From 9073d16b09c9503914d7f56e5ef07a05ff76bd00 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 18 Sep 2021 00:28:07 +0100
Subject: [PATCH] Tiltrotor: add transtion class

---
 ArduPlane/tiltrotor.cpp | 38 ++++++++++++++++++++++++++++++++++++--
 ArduPlane/tiltrotor.h   | 28 +++++++++++++++++++++++++++-
 2 files changed, 63 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/tiltrotor.cpp b/ArduPlane/tiltrotor.cpp
index a2fe83f94e..f2033be319 100644
--- a/ArduPlane/tiltrotor.cpp
+++ b/ArduPlane/tiltrotor.cpp
@@ -92,7 +92,7 @@ void Tiltrotor::setup()
         enable.set_and_save(1);
     }
 
-    if (!enabled()) {
+    if (enable <= 0) {
         return;
     }
 
@@ -115,6 +115,14 @@ void Tiltrotor::setup()
             SRV_Channels::set_range(SRV_Channel::k_tiltMotorRearRight, 1000);
         }
     }
+
+    transition = new Tiltrotor_Transition(quadplane, motors, *this);
+    if (!transition) {
+        AP_BoardConfig::allocation_error("tiltrotor transition");
+    }
+    quadplane.transition = transition;
+
+    setup_complete = true;
 }
 
 /*
@@ -248,7 +256,7 @@ void Tiltrotor::continuous_update(void)
     }
 
     if (quadplane.assisted_flight &&
-        quadplane.transition_state >= QuadPlane::TRANSITION_TIMER) {
+        transition->transition_state >= Tiltrotor_Transition::TRANSITION_TIMER) {
         // we are transitioning to fixed wing - tilt the motors all
         // the way forward
         slew(1);
@@ -600,4 +608,30 @@ void Tiltrotor::update_yaw_target(void)
     }
     transition_yaw_set_ms = now;
 }
+
+bool Tiltrotor_Transition::update_yaw_target(float& yaw_target_cd)
+{
+    if (!(tiltrotor.is_vectored() &&
+        transition_state <= TRANSITION_TIMER)) {
+        return false;
+    }
+    tiltrotor.update_yaw_target();
+    yaw_target_cd = tiltrotor.transition_yaw_cd;
+    return true;
+}
+
+// return true if we should show VTOL view
+bool Tiltrotor_Transition::show_vtol_view() const
+{
+    bool show_vtol = quadplane.in_vtol_mode();
+
+    if (!show_vtol && tiltrotor.is_vectored() && transition_state <= TRANSITION_TIMER) {
+        // we use multirotor controls during fwd transition for
+        // vectored yaw vehicles
+        return true;
+    }
+
+    return show_vtol;
+}
+
 #endif  // HAL_QUADPLANE_ENABLED
diff --git a/ArduPlane/tiltrotor.h b/ArduPlane/tiltrotor.h
index e1b2ef299d..74f0d9b82f 100644
--- a/ArduPlane/tiltrotor.h
+++ b/ArduPlane/tiltrotor.h
@@ -15,17 +15,21 @@
 #pragma once
 
 #include <AP_Param/AP_Param.h>
+#include "transition.h"
+
 class QuadPlane;
 class AP_MotorsMulticopter;
+class Tiltrotor_Transition;
 class Tiltrotor
 {
 friend class QuadPlane;
 friend class Plane;
+friend class Tiltrotor_Transition;
 public:
 
     Tiltrotor(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors);
 
-    bool enabled() const { return enable > 0;}
+    bool enabled() const { return (enable > 0) && setup_complete;}
 
     void setup();
 
@@ -81,8 +85,30 @@ public:
 
 private:
 
+    bool setup_complete;
+
     // refences for convenience
     QuadPlane& quadplane;
     AP_MotorsMulticopter*& motors;
 
+    Tiltrotor_Transition* transition;
+
+};
+
+// Transition for separate left thrust quadplanes
+class Tiltrotor_Transition : public SLT_Transition
+{
+friend class Tiltrotor;
+public:
+
+    Tiltrotor_Transition(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors, Tiltrotor& _tiltrotor):SLT_Transition(_quadplane, _motors), tiltrotor(_tiltrotor) {};
+
+    bool update_yaw_target(float& yaw_target_cd) override;
+
+    bool show_vtol_view() const override;
+
+private:
+
+    Tiltrotor& tiltrotor;
+
 };