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58 lines
1.7 KiB
58 lines
1.7 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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antenna-tracker simulator class |
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*/ |
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#pragma once |
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#include "SIM_Aircraft.h" |
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namespace SITL { |
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/* |
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a antenna tracker simulator |
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*/ |
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class Tracker : public Aircraft { |
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public: |
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Tracker(const char *home_str, const char *frame_str); |
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void update(const struct sitl_input &input); |
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/* static object creator */ |
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static Aircraft *create(const char *home_str, const char *frame_str) { |
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return new Tracker(home_str, frame_str); |
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} |
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private: |
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const bool onoff = false; |
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const float yawrate = 9.0f; |
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const float pitchrate = 1.0f; |
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const float pitch_range = 45; |
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const float yaw_range = 170; |
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const float zero_yaw = 270; // yaw direction at startup |
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const float zero_pitch = 10; // pitch at startup |
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uint64_t last_debug_us = 0; |
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float pitch_input; |
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float yaw_input; |
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float yaw_current_relative; |
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float pitch_current_relative; |
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void update_position_servos(float delta_time, float &yaw_rate, float &pitch_rate); |
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void update_onoff_servos(float &yaw_rate, float &pitch_rate); |
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}; |
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} // namespace SITL
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