mirror of https://github.com/ArduPilot/ardupilot
108 lines
3.1 KiB
C
108 lines
3.1 KiB
C
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/*
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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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#pragma once
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#include <AP_Param/AP_Param.h>
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class QuadPlane;
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class AP_MotorsMulticopter;
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class Tailsitter
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{
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friend class QuadPlane;
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friend class Plane;
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public:
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Tailsitter(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors);
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bool enabled() const { return enable > 0;}
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// return true when flying a control surface only tailsitter
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bool is_control_surface_tailsitter(void) const;
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// return true when flying a tailsitter in VTOL
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bool active(void);
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// create outputs for tailsitters
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void output(void);
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// handle different tailsitter input types
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void check_input(void);
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// check if we have completed transition to fixed wing
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bool transition_fw_complete(void);
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// return true if we are a tailsitter in FW flight
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bool is_in_fw_flight(void) const;
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// check if we have completed transition to vtol
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bool transition_vtol_complete(void) const;
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// return true if transistion to VTOL flight
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bool in_vtol_transition(uint32_t now = 0) const;
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// account for control surface speed scaling in VTOL modes
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void speed_scaling(void);
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// return the transition_angle_vtol value
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int8_t get_transition_angle_vtol() const;
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// true when flying a tilt-vectored tailsitter
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bool _is_vectored;
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// tailsitter speed scaler
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float last_spd_scaler = 1.0f; // used to slew rate limiting with TAILSITTER_GSCL_ATT_THR option
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float log_spd_scaler; // for QTUN log
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static const struct AP_Param::GroupInfo var_info[];
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// bit 0 enables plane mode and bit 1 enables body-frame roll mode
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enum input {
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TAILSITTER_INPUT_PLANE = (1U<<0),
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TAILSITTER_INPUT_BF_ROLL = (1U<<1)
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};
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enum gscl_mask {
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TAILSITTER_GSCL_THROTTLE = (1U<<0),
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TAILSITTER_GSCL_ATT_THR = (1U<<1),
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TAILSITTER_GSCL_DISK_THEORY = (1U<<2),
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TAILSITTER_GSCL_ALTITUDE = (1U<<3),
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};
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AP_Int8 enable;
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AP_Int8 transition_angle_fw;
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AP_Float transition_rate_fw;
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AP_Int8 transition_angle_vtol;
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AP_Float transition_rate_vtol;
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AP_Int8 input_type;
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AP_Float vectored_forward_gain;
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AP_Float vectored_hover_gain;
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AP_Float vectored_hover_power;
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AP_Float throttle_scale_max;
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AP_Float gain_scaling_min;
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AP_Float max_roll_angle;
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AP_Int16 motor_mask;
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AP_Float scaling_speed_min;
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AP_Float scaling_speed_max;
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AP_Int16 gain_scaling_mask;
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AP_Float disk_loading;
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private:
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// refences for convenience
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QuadPlane& quadplane;
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AP_MotorsMulticopter*& motors;
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};
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