mirror of https://github.com/ArduPilot/ardupilot
103 lines
3.3 KiB
C++
103 lines
3.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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control code for tailsitters. Enabled by setting Q_FRAME_CLASS=10
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*/
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#include "Plane.h"
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/*
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return true when flying a tailsitter
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*/
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bool QuadPlane::is_tailsitter(void)
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{
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return available() && frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER;
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}
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/*
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check if we are flying as a tailsitter
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*/
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bool QuadPlane::tailsitter_active(void)
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{
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return is_tailsitter() && in_vtol_mode();
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}
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/*
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run output for tailsitters
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*/
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void QuadPlane::tailsitter_output(void)
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{
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if (!tailsitter_active()) {
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return;
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}
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motors_output();
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plane.pitchController.reset_I();
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plane.rollController.reset_I();
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if (tailsitter.input_mask_chan > 0 &&
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tailsitter.input_mask > 0 &&
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hal.rcin->read(tailsitter.input_mask_chan-1) > 1700) {
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// the user is learning to prop-hang
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if (tailsitter.input_mask & TAILSITTER_MASK_AILERON) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.channel_roll->get_control_in_zero_dz());
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}
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if (tailsitter.input_mask & TAILSITTER_MASK_ELEVATOR) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.channel_pitch->get_control_in_zero_dz());
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}
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if (tailsitter.input_mask & TAILSITTER_MASK_THROTTLE) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.channel_throttle->get_control_in_zero_dz());
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}
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if (tailsitter.input_mask & TAILSITTER_MASK_RUDDER) {
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SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, plane.channel_rudder->get_control_in_zero_dz());
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}
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}
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}
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/*
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return true when we have completed enough of a transition to switch to fixed wing control
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*/
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bool QuadPlane::tailsitter_transition_complete(void)
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{
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if (plane.fly_inverted()) {
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// transition immediately
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return true;
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}
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if (labs(ahrs_view->pitch_sensor) > tailsitter.transition_angle*100 ||
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labs(ahrs_view->roll_sensor) > tailsitter.transition_angle*100 ||
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AP_HAL::millis() - transition_start_ms > 2000) {
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return true;
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}
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// still waiting
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return false;
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}
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// handle different tailsitter input types
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void QuadPlane::tailsitter_check_input(void)
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{
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if (tailsitter_active() &&
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tailsitter.input_type == TAILSITTER_INPUT_PLANE) {
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// the user has asked for body frame controls when tailsitter
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// is active. We switch around the control_in value for the
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// channels to do this, as that ensures the value is
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// consistent throughout the code
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int16_t roll_in = plane.channel_roll->get_control_in();
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int16_t yaw_in = plane.channel_rudder->get_control_in();
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plane.channel_roll->set_control_in(yaw_in);
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plane.channel_rudder->set_control_in(-roll_in);
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}
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}
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