mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.4 KiB
C
89 lines
2.4 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 Tiltrotor
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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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Tiltrotor(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors);
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bool enabled() const { return enable > 0;}
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void setup();
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void slew(float tilt);
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void binary_slew(bool forward);
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void update();
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void continuous_update();
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void binary_update();
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void vectoring();
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void bicopter_output();
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void tilt_compensate_angle(float *thrust, uint8_t num_motors, float non_tilted_mul, float tilted_mul);
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void tilt_compensate(float *thrust, uint8_t num_motors);
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bool is_motor_tilting(uint8_t motor) const {
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return (((uint8_t)tilt_mask.get()) & (1U<<motor));
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}
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bool fully_fwd() const;
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float tilt_max_change(bool up) const;
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// update yaw target for tiltrotor transition
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void update_yaw_target();
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bool is_vectored() const { return enabled() && _is_vectored; }
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bool motors_active() const { return enabled() && _motors_active; }
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AP_Int8 enable;
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AP_Int16 tilt_mask;
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AP_Int16 max_rate_up_dps;
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AP_Int16 max_rate_down_dps;
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AP_Int8 max_angle_deg;
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AP_Int8 type;
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AP_Float tilt_yaw_angle;
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AP_Float fixed_angle;
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AP_Float fixed_gain;
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float current_tilt;
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float current_throttle;
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bool _motors_active:1;
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float transition_yaw_cd;
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uint32_t transition_yaw_set_ms;
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bool _is_vectored;
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// types of tilt mechanisms
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enum {TILT_TYPE_CONTINUOUS =0,
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TILT_TYPE_BINARY =1,
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TILT_TYPE_VECTORED_YAW =2,
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TILT_TYPE_BICOPTER =3
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};
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static const struct AP_Param::GroupInfo var_info[];
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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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