mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.6 KiB
C
82 lines
2.6 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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/*
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Rover Sailboat functionality
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*/
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class Sailboat
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{
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public:
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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// enabled
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bool enabled() const { return enable != 0;}
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// constructor
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Sailboat();
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// setup
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void init();
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// update mainsail's desired angle based on wind speed and direction and desired speed (in m/s)
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void update_mainsail(float desired_speed);
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// Velocity Made Good, this is the speed we are traveling towards the desired destination
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float get_VMG() const;
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// handle user initiated tack while in acro mode
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void handle_tack_request_acro();
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// return target heading in radians when tacking (only used in acro)
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float get_tack_heading_rad() const;
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// handle user initiated tack while in autonomous modes (Auto, Guided, RTL, SmartRTL, etc)
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void handle_tack_request_auto();
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// clear tacking state variables
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void clear_tack();
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// returns true if boat is currently tacking
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bool tacking() const;
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// returns true if sailboat should take a indirect navigation route to go upwind
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bool use_indirect_route(float desired_heading_cd) const;
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// calculate the heading to sail on if we cant go upwind
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float calc_heading(float desired_heading_cd);
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private:
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// parameters
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AP_Int8 enable;
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AP_Float sail_angle_min;
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AP_Float sail_angle_max;
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AP_Float sail_angle_ideal;
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AP_Float sail_heel_angle_max;
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AP_Float sail_no_go;
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enum Sailboat_Tack {
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TACK_PORT,
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TACK_STARBOARD
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};
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bool currently_tacking; // true when sailboat is in the process of tacking to a new heading
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float tack_heading_rad; // target heading in radians while tacking in either acro or autonomous modes
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uint32_t auto_tack_request_ms; // system time user requested tack in autonomous modes
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uint32_t auto_tack_start_ms; // system time when tack was started in autonomous mode
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};
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