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51 lines
1.2 KiB
51 lines
1.2 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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#include "AP_ESC_Telem_SITL.h" |
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#include "AP_ESC_Telem.h" |
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#include <AP_HAL/AP_HAL.h> |
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#include <SITL/SITL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include <AP_Math/AP_Math.h> |
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extern const AP_HAL::HAL& hal; |
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AP_ESC_Telem_SITL::AP_ESC_Telem_SITL() |
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{ |
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} |
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void AP_ESC_Telem_SITL::update() |
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{ |
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SITL::SIM* sitl = AP::sitl(); |
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if (!sitl) { |
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return; |
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} |
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if (is_zero(sitl->throttle)) { |
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return; |
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} |
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#if HAL_WITH_ESC_TELEM |
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for (uint8_t i = 0; i < sitl->state.num_motors; i++) { |
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update_rpm(i, sitl->state.rpm[sitl->state.vtol_motor_start+i]); |
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} |
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#endif |
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} |
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#endif |