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             :   antenna-tracker simulator class
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "SIM_Aircraft.h"
      22             : 
      23             : namespace SITL {
      24             : 
      25             : /*
      26             :   a antenna tracker simulator
      27             :  */
      28             : class Tracker : public Aircraft {
      29             : public:
      30             :     using Aircraft::Aircraft;
      31             : 
      32             :     void update(const struct sitl_input &input) override;
      33             : 
      34             :     /* static object creator */
      35          33 :     static Aircraft *create(const char *frame_str) {
      36          33 :         return NEW_NOTHROW Tracker(frame_str);
      37             :     }
      38             : 
      39             : private:
      40             : 
      41             :     const bool onoff = false;
      42             :     const float yawrate = 9.0f;
      43             :     const float pitchrate = 1.0f;
      44             :     const float pitch_range = 45;
      45             :     const float yaw_range = 170;
      46             :     const float zero_yaw = 270;  // yaw direction at startup
      47             :     const float zero_pitch = 10; // pitch at startup
      48             :     uint64_t last_debug_us;
      49             : 
      50             :     float pitch_input;
      51             :     float yaw_input;
      52             :     float yaw_current_relative;
      53             :     float pitch_current_relative;
      54             : 
      55             :     void update_position_servos(float delta_time, float &yaw_rate, float &pitch_rate) const;
      56             :     void update_onoff_servos(float &yaw_rate, float &pitch_rate) const;
      57             : };
      58             : 
      59             : } // namespace SITL