Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : /*
      16             :   simple parachute simulation class
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "stdint.h"
      22             : #include <AP_Param/AP_Param.h>
      23             : #include "SITL_Input.h"
      24             : #include <AP_Math/AP_Math.h>
      25             : 
      26             : namespace SITL {
      27             : 
      28             : class Parachute {
      29             : public:
      30        2096 :     Parachute() {
      31        2096 :         AP_Param::setup_object_defaults(this, var_info);
      32        2096 :     };
      33             : 
      34             :     // update parachute state
      35             :     void update(const struct sitl_input &input);
      36             : 
      37             :     Vector3f drag() const;
      38             : 
      39             :     static const struct AP_Param::GroupInfo var_info[];
      40   178759942 :     bool is_enabled() const {return static_cast<bool>(parachute_enable);}
      41             : 
      42             :  private:
      43             : 
      44             :     AP_Int8  parachute_enable;  // enable parachute sim
      45             :     AP_Int8  parachute_pin; // pin with pyrotechnics on
      46             : 
      47             :     const uint32_t report_interval = 1000000; // microseconds
      48             :     uint64_t last_report_us;
      49             : 
      50             :     uint32_t deployed_ms; // time parachute was deployed
      51             : 
      52             :     uint64_t last_update_us;
      53             : 
      54             :     bool should_report() const;
      55             :     bool zero_report_done = false;
      56             : };
      57             : 
      58             : }