void
consume(const IMC::Rpm* msg)
{
if (!isActive())
return;
// Compute time delta.
double timestep = m_last_rpm.getDelta();
// Check if we have a valid time delta.
if (timestep < 0.0)
return;
switch (m_speed_units)
{
case IMC::SUNITS_PERCENTAGE:
dispatchThrust(m_desired_speed / 100.0, timestep);
// disable the meters per second controller
m_u_active = false;
break;
case IMC::SUNITS_RPM:
rpmToThrust(msg->value, m_desired_speed, timestep);
m_previous_rpm = m_desired_speed;
// disable the meters per second controller
m_u_active = false;
break;
default:
break;
}
if (m_u_active)
rpmToThrust(msg->value, m_desired_rpm, timestep);
}
void
consume(const IMC::EstimatedState* msg)
{
if (!isActive())
return;
// Compute time delta.
double timestep = m_last_mps.getDelta();
// Check if we have a valid time delta.
if (timestep < 0.0)
return;
// If we're asked for m/s or if u controller is active
if (m_speed_units == IMC::SUNITS_METERS_PS || m_u_active)
{
float abs_gvel = msg->u;
mpsToRpm(abs_gvel, timestep);
// Enable u controller
m_u_active = true;
}
}