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 model of a servo. Model is:
      17             : 
      18             :     - time delay for transport protocol delay
      19             :     - slew limit
      20             :     - 2-pole butterworth
      21             : */
      22             : 
      23             : #include <Filter/LowPassFilter2p.h>
      24             : #include <Filter/LowPassFilter.h>
      25             : #include <AP_HAL/utility/RingBuffer.h>
      26             : #include <AP_Param/AP_Param.h>
      27             : 
      28             : 
      29             : class ServoModel {
      30             : public:
      31     7023871 :     float angle() const { return filter1p.get(); }
      32             :     float filter_angle(uint16_t pwm, float dt);
      33             :     float filter_range(uint16_t pwm, float dt);
      34             :     void set_pwm_range(uint16_t _pwm_min, uint16_t _pwm_max);
      35             :     void set_deflection(float _angle_deg);
      36             : 
      37             :     static const struct AP_Param::GroupInfo var_info[];
      38             : 
      39             :     // return pwm required for current angle
      40             :     float angle_pwm() const;
      41             : 
      42             : private:
      43             :     float apply_filter(float v, float dt);
      44             :     float apply_simple_filter(float v, float dt);
      45             : 
      46             :     LowPassFilter2pFloat filter;
      47             :     LowPassFilterFloat filter1p;
      48             :     ObjectBuffer<float> *delay;
      49             :     float last_v;
      50             :     float delta_max;
      51             :     uint16_t pwm_min = 1000;
      52             :     uint16_t pwm_max = 2000;
      53             :     float angle_deg = 45.0;
      54             : };
      55             :