ardupilot/APMrover2/sailboat.h

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2019-05-07 15:21:02 -03:00
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Rover Sailboat functionality
*/
class Sailboat
{
public:
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
// enabled
bool enabled() const { return enable != 0;}
// constructor
Sailboat();
// setup
void init();
// update mainsail's desired angle based on wind speed and direction and desired speed (in m/s)
void update_mainsail(float desired_speed);
// Velocity Made Good, this is the speed we are traveling towards the desired destination
float get_VMG() const;
// handle user initiated tack while in acro mode
void handle_tack_request_acro();
// return target heading in radians when tacking (only used in acro)
float get_tack_heading_rad() const;
// handle user initiated tack while in autonomous modes (Auto, Guided, RTL, SmartRTL, etc)
void handle_tack_request_auto();
// clear tacking state variables
void clear_tack();
// returns true if boat is currently tacking
bool tacking() const;
// returns true if sailboat should take a indirect navigation route to go upwind
bool use_indirect_route(float desired_heading_cd) const;
// calculate the heading to sail on if we cant go upwind
float calc_heading(float desired_heading_cd);
private:
// parameters
AP_Int8 enable;
AP_Float sail_angle_min;
AP_Float sail_angle_max;
AP_Float sail_angle_ideal;
AP_Float sail_heel_angle_max;
AP_Float sail_no_go;
enum Sailboat_Tack {
TACK_PORT,
TACK_STARBOARD
};
bool currently_tacking; // true when sailboat is in the process of tacking to a new heading
float tack_heading_rad; // target heading in radians while tacking in either acro or autonomous modes
uint32_t auto_tack_request_ms; // system time user requested tack in autonomous modes
uint32_t auto_tack_start_ms; // system time when tack was started in autonomous mode
};