APM:Libraries: SITL::Motor Class Reference

APM:Libraries

#include <SIM_Motor.h>

Public Types
enum	{ SERVO_NORMAL, SERVO_RETRACT }

Public Member Functions
	Motor (uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order)

	Motor (uint8_t _servo, float _angle, float _yaw_factor, uint8_t _display_order, int8_t _roll_servo, float _roll_min, float _roll_max, int8_t _pitch_servo, float _pitch_min, float _pitch_max)

void	calculate_forces (const Aircraft::sitl_input &input, float thrust_scale, uint8_t motor_offset, Vector3f &rot_accel, Vector3f &body_thrust)

uint16_t	update_servo (uint16_t demand, uint64_t time_usec, float &last_value)

Public Attributes
float	angle

float	yaw_factor

uint8_t	servo

uint8_t	display_order

int8_t	roll_servo = -1

float	roll_min

float	roll_max

int8_t	pitch_servo = -1

float	pitch_min

float	pitch_max

enum SITL::Motor:: { ... }	servo_type

float	servo_rate = 0.24

uint64_t	last_change_usec

float	last_roll_value

float	last_pitch_value

Detailed Description

Definition at line 28 of file SIM_Motor.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
SERVO_NORMAL
SERVO_RETRACT

Definition at line 42 of file SIM_Motor.h.

Constructor & Destructor Documentation

◆ Motor() [1/2]

SITL::Motor::Motor	(	uint8_t	_servo,
		float	_angle,
		float	_yaw_factor,
		uint8_t	_display_order
	)

inline

Definition at line 47 of file SIM_Motor.h.

◆ Motor() [2/2]

SITL::Motor::Motor	(	uint8_t	_servo,
		float	_angle,
		float	_yaw_factor,
		uint8_t	_display_order,
		int8_t	_roll_servo,
		float	_roll_min,
		float	_roll_max,
		int8_t	_pitch_servo,
		float	_pitch_min,
		float	_pitch_max
	)

inline

Definition at line 57 of file SIM_Motor.h.

Here is the call graph for this function:

Member Function Documentation

◆ calculate_forces()

void Motor::calculate_forces	(	const Aircraft::sitl_input &	input,
		float	thrust_scale,
		uint8_t	motor_offset,
		Vector3f &	rot_accel,
		Vector3f &	body_thrust
	)

Definition at line 25 of file SIM_Motor.cpp.

Referenced by SITL::Frame::calculate_forces(), and Motor().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ update_servo()

uint16_t Motor::update_servo	(	uint16_t	demand,
		uint64_t	time_usec,
		float &	last_value
	)

Definition at line 89 of file SIM_Motor.cpp.

Referenced by calculate_forces(), and Motor().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ angle

float SITL::Motor::angle

Definition at line 30 of file SIM_Motor.h.

Referenced by calculate_forces().

◆ display_order

uint8_t SITL::Motor::display_order

Definition at line 33 of file SIM_Motor.h.

◆ last_change_usec

uint64_t SITL::Motor::last_change_usec

Definition at line 44 of file SIM_Motor.h.

Referenced by calculate_forces(), and update_servo().

◆ last_pitch_value

float SITL::Motor::last_pitch_value

Definition at line 45 of file SIM_Motor.h.

Referenced by calculate_forces().

◆ last_roll_value

float SITL::Motor::last_roll_value

Definition at line 45 of file SIM_Motor.h.

Referenced by calculate_forces().

◆ pitch_max

float SITL::Motor::pitch_max

Definition at line 39 of file SIM_Motor.h.

Referenced by calculate_forces().

◆ pitch_min

float SITL::Motor::pitch_min

Definition at line 39 of file SIM_Motor.h.

Referenced by calculate_forces().

◆ pitch_servo

int8_t SITL::Motor::pitch_servo = -1

Definition at line 38 of file SIM_Motor.h.

Referenced by calculate_forces().

◆ roll_max

float SITL::Motor::roll_max

Definition at line 37 of file SIM_Motor.h.

Referenced by calculate_forces().

◆ roll_min

float SITL::Motor::roll_min

Definition at line 37 of file SIM_Motor.h.

Referenced by calculate_forces().

◆ roll_servo

int8_t SITL::Motor::roll_servo = -1

Definition at line 36 of file SIM_Motor.h.

Referenced by calculate_forces().

◆ servo

uint8_t SITL::Motor::servo

Definition at line 32 of file SIM_Motor.h.

Referenced by calculate_forces().

◆ servo_rate

float SITL::Motor::servo_rate = 0.24

Definition at line 43 of file SIM_Motor.h.

Referenced by SITL::QuadPlane::QuadPlane(), and update_servo().

◆ servo_type

enum { ... } SITL::Motor::servo_type

Referenced by SITL::QuadPlane::QuadPlane(), and update_servo().

◆ yaw_factor

float SITL::Motor::yaw_factor

Definition at line 31 of file SIM_Motor.h.

Referenced by calculate_forces().

The documentation for this class was generated from the following files:

libraries/SITL/SIM_Motor.h
libraries/SITL/SIM_Motor.cpp