ardupilot/libraries/AP_Motors/AP_MotorsTailsitter.h

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/// @file AP_MotorsTailsitter.h
/// @brief Motor control class for tailsitters and bicopters
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <SRV_Channel/SRV_Channel.h>
#include "AP_MotorsMulticopter.h"
/// @class AP_MotorsTailsitter
class AP_MotorsTailsitter : public AP_MotorsMulticopter {
public:
/// Constructor
AP_MotorsTailsitter(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
// init
void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override {}
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz ) override;
// output_to_motors - sends output to named servos
void output_to_motors() override;
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t get_motor_mask() override;
// Set by tailsitters using diskloading minumum outflow velocity limit
void set_min_throttle(float val) {_external_min_throttle = val;}
protected:
// calculate motor outputs
void output_armed_stabilizing() override;
const char* _get_frame_string() const override { return "TAILSITTER"; }
// spin a motor at the pwm value specified
void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// calculated outputs
float _throttle; // 0..1
float _tilt_left; // -1..1
float _tilt_right; // -1..1
float _thrust_left; // 0..1
float _thrust_right; // 0..1
// Set by tailsitters using diskloading minumum outflow velocity limit
float _external_min_throttle;
// true if differential thrust is available
bool _has_diff_thrust;
};