Changeset 214 in flair-src for trunk/lib/FlairSimulator/src/X8.cpp

Timestamp:

02/07/18 17:49:27 (6 years ago)

Author:

Sanahuja Guillaume

Message:

matrix

File:

• trunk/lib/FlairSimulator/src/X8.cpp (modified) (3 diffs)

trunk/lib/FlairSimulator/src/X8.cpp

@@ -20 +20 @@
 #include <Tab.h>
 #include <DoubleSpinBox.h>
+#include <SpinBox.h>
 #include <GroupBox.h>
 #include <math.h>
@@ -81 +82 @@
       setup_tab->LastRowLastCol(), "S:", 1, 2,
       0.1); // coefficient de forme des helices 1<S=1+Ss/Sprop<2 (sans unite)
+      
+  motorTimeout = new SpinBox(setup_tab->NewRow(), "motor timeout:","ms", 0, 1000, 100,100);
 
   motors = new SimuBldc(this, name, 8, modelId,0);
@@ -231 +234 @@
   float u_roll, u_pitch, u_yaw, u_thrust;
   float omega;
+  Time motorTime;
 #ifdef GL
   motor_speed_mutex->GetMutex();
 #endif // GL
-  motors->GetSpeeds(motor_speed);
+  motors->GetSpeeds(motor_speed,&motorTime);
+  if((GetTime()-motorTime)/1000000>motorTimeout->Value()) {
+    for(int i=0;i<8;i++) {
+      if(motor_speed[i]!=0) {
+         //Printf("timout\n");
+        for(int i=0;i<8;i++) motor_speed[i]=0;
+        break;
+      }
+    }
+  }
 #ifdef GL
   motor_speed_mutex->ReleaseMutex();