mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.0 KiB
C
51 lines
1.0 KiB
C
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#pragma once
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/*
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support for pullup after NAV_ALTITUDE_WAIT for gliders
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*/
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#ifndef AP_PLANE_GLIDER_PULLUP_ENABLED
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#define AP_PLANE_GLIDER_PULLUP_ENABLED CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#endif
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#if AP_PLANE_GLIDER_PULLUP_ENABLED
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class GliderPullup
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{
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public:
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GliderPullup(void);
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void reset(void) {
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stage = Stage::NONE;
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}
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bool in_pullup() const;
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bool verify_pullup(void);
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void stabilize_pullup(void);
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bool pullup_complete(void);
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bool pullup_start(void);
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enum class Stage : uint8_t {
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NONE=0,
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WAIT_AIRSPEED,
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WAIT_PITCH,
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WAIT_LEVEL,
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PUSH_NOSE_DOWN,
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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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Stage stage;
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AP_Int8 enable;
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AP_Float elev_offset; // fraction of full elevator applied during WAIT_AIRSPEED and released during WAIT_PITCH
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AP_Float ng_limit;
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AP_Float airspeed_start;
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AP_Float pitch_start;
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AP_Float ng_jerk_limit;
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AP_Float pitch_dem;
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float ng_demand;
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};
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#endif // AP_PLANE_GLIDER_PULLUP_ENABLED
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