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58 lines
1.5 KiB
58 lines
1.5 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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simple parachute simulation class |
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*/ |
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#pragma once |
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#include "stdint.h" |
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#include <AP_Param/AP_Param.h> |
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#include "SITL_Input.h" |
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#include <AP_Math/AP_Math.h> |
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namespace SITL { |
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class Parachute { |
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public: |
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Parachute() { |
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AP_Param::setup_object_defaults(this, var_info); |
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}; |
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// update parachute state |
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void update(const struct sitl_input &input); |
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Vector3f drag() const; |
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static const struct AP_Param::GroupInfo var_info[]; |
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bool is_enabled() const {return static_cast<bool>(parachute_enable);} |
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private: |
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AP_Int8 parachute_enable; // enable parachute sim |
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AP_Int8 parachute_pin; // pin with pyrotechnics on |
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const uint32_t report_interval = 1000000; // microseconds |
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uint64_t last_report_us; |
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uint32_t deployed_ms; // time parachute was deployed |
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uint64_t last_update_us; |
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bool should_report() const; |
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bool zero_report_done = false; |
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}; |
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}
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