/* 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/>. */ #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) && setup_complete;} void setup(); void slew(float tilt); void binary_slew(bool forward); void update(); void continuous_update(); void binary_update(); void vectoring(); void bicopter_output(); void tilt_compensate_angle(float *thrust, uint8_t num_motors, float non_tilted_mul, float tilted_mul); void tilt_compensate(float *thrust, uint8_t num_motors); bool tilt_over_max_angle(void) const; bool is_motor_tilting(uint8_t motor) const { return tilt_mask.get() & (1U<<motor); } bool fully_fwd() const; bool fully_up() const; float tilt_max_change(bool up, bool in_flap_range = false) const; float get_fully_forward_tilt() const; float get_forward_flight_tilt() const; // update yaw target for tiltrotor transition void update_yaw_target(); bool is_vectored() const { return enabled() && _is_vectored; } bool has_fw_motor() const { return _have_fw_motor; } bool has_vtol_motor() const { return _have_vtol_motor; } bool motors_active() const { return enabled() && _motors_active; } // true if the tilts have completed slewing // always return true if not enabled or not a continuous type bool tilt_angle_achieved() const { return !enabled() || (type != TILT_TYPE_CONTINUOUS) || angle_achieved; } AP_Int8 enable; AP_Int16 tilt_mask; AP_Int16 max_rate_up_dps; AP_Int16 max_rate_down_dps; AP_Int8 max_angle_deg; AP_Int8 type; AP_Float tilt_yaw_angle; AP_Float fixed_angle; AP_Float fixed_gain; AP_Float flap_angle_deg; float current_tilt; float current_throttle; bool _motors_active:1; float transition_yaw_cd; uint32_t transition_yaw_set_ms; bool _is_vectored; // types of tilt mechanisms enum {TILT_TYPE_CONTINUOUS =0, TILT_TYPE_BINARY =1, TILT_TYPE_VECTORED_YAW =2, TILT_TYPE_BICOPTER =3 }; static const struct AP_Param::GroupInfo var_info[]; private: bool setup_complete; // true if a fixed forward motor is setup bool _have_fw_motor; // true if all motors tilt with no fixed VTOL motor bool _have_vtol_motor; // true if the current tilt angle is equal to the desired // with slow tilt rates the tilt angle can lag bool angle_achieved; // 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; };