You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
59 lines
1.7 KiB
59 lines
1.7 KiB
10 years ago
|
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||
|
|
/*
|
||
|
|
This program is free software: you can redistribute it and/or modify
|
||
|
|
it under the terms of the GNU General Public License as published by
|
||
|
|
the Free Software Foundation, either version 3 of the License, or
|
||
|
|
(at your option) any later version.
|
||
|
|
|
||
|
|
This program is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*/
|
||
|
|
/*
|
||
|
|
antenna-tracker simulator class
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _SIM_TRACKER_H
|
||
|
|
#define _SIM_TRACKER_H
|
||
|
|
|
||
|
|
#include "SIM_Aircraft.h"
|
||
|
|
|
||
|
|
/*
|
||
|
|
a antenna tracker simulator
|
||
|
|
*/
|
||
|
|
class Tracker : public Aircraft
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
Tracker(const char *home_str, const char *frame_str);
|
||
|
|
void update(const struct sitl_input &input);
|
||
|
|
|
||
|
|
/* static object creator */
|
||
|
|
static Aircraft *create(const char *home_str, const char *frame_str) {
|
||
|
|
return new Tracker(home_str, frame_str);
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
const bool onoff = false;
|
||
|
|
const float yawrate = 9.0f;
|
||
|
|
const float pitchrate = 1.0f;
|
||
|
|
const float pitch_range = 45;
|
||
|
|
const float yaw_range = 170;
|
||
|
|
const float zero_yaw = 0; // yaw direction at startup
|
||
|
|
const float zero_pitch = 0; // pitch at startup
|
||
|
|
bool verbose = false;
|
||
|
|
uint64_t last_debug_us = 0;
|
||
|
|
|
||
|
|
float pitch_input;
|
||
|
|
float yaw_input;
|
||
|
|
|
||
|
|
void update_position_servos(float delta_time, float &yaw_rate, float &pitch_rate);
|
||
|
|
void update_onoff_servos(float &yaw_rate, float &pitch_rate);
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|