mirror of https://github.com/ArduPilot/ardupilot
31 lines
990 B
C
31 lines
990 B
C
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/// @file AP_MotorsMatrixTS.h
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/// @brief Motor control class for tailsitters with multicopter motor configurations
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include <SRV_Channel/SRV_Channel.h>
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#include "AP_MotorsMatrix.h"
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/// @class AP_MotorsMatrix
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class AP_MotorsMatrixTS : public AP_MotorsMatrix {
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public:
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AP_MotorsMatrixTS(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_MotorsMatrix(loop_rate, speed_hz) {
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AP_Param::setup_object_defaults(this, var_info);
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};
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virtual void output_to_motors() override;
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virtual void output_motor_mask(float thrust, uint8_t mask, float rudder_dt) override;
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protected:
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// configures the motors for the defined frame_class and frame_type
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virtual void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type) override;
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// calculate motor outputs
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void output_armed_stabilizing() override;
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};
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