mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.9 KiB
C++
58 lines
1.9 KiB
C++
/// @file AP_MotorsTailsitter.h
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/// @brief Motor control class for tailsitters and bicopters
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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 "AP_MotorsMulticopter.h"
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/// @class AP_MotorsTailsitter
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class AP_MotorsTailsitter : public AP_MotorsMulticopter {
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public:
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/// Constructor
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AP_MotorsTailsitter(uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
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// init
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void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
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// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
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void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override {}
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// set update rate to motors - a value in hertz
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void set_update_rate( uint16_t speed_hz ) override;
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// output_to_motors - sends output to named servos
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void output_to_motors() override;
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// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
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// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
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uint32_t get_motor_mask() override;
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// Set by tailsitters using diskloading minumum outflow velocity limit
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void set_min_throttle(float val) {_external_min_throttle = val;}
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protected:
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// calculate motor outputs
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void output_armed_stabilizing() override;
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const char* _get_frame_string() const override { return "TAILSITTER"; }
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// spin a motor at the pwm value specified
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void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
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// calculated outputs
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float _throttle; // 0..1
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float _tilt_left; // -1..1
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float _tilt_right; // -1..1
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float _thrust_left; // 0..1
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float _thrust_right; // 0..1
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// Set by tailsitters using diskloading minumum outflow velocity limit
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float _external_min_throttle;
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// true if differential thrust is available
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bool _has_diff_thrust;
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};
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