mirror of https://github.com/ArduPilot/ardupilot
122 lines
3.3 KiB
C++
122 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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#pragma once
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#include <GCS_MAVLink/GCS_MAVLink.h>
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class QuadPlane;
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class AP_MotorsMulticopter;
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// Transition empty base class
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class Transition
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{
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public:
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Transition(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors):quadplane(_quadplane),motors(_motors) {};
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virtual void update() = 0;
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virtual void VTOL_update() = 0;
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virtual void force_transistion_complete() = 0;
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virtual bool complete() const = 0;
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virtual void restart() = 0;
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virtual uint8_t get_log_transision_state() const = 0;
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virtual bool active() const = 0;
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virtual bool show_vtol_view() const = 0;
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virtual void set_FW_roll_pitch(int32_t& nav_pitch_cd, int32_t& nav_roll_cd, bool& allow_stick_mixing) {};
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virtual bool set_FW_roll_limit(int32_t& roll_limit_cd) { return false; }
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virtual bool allow_update_throttle_mix() const { return true; }
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virtual bool update_yaw_target(float& yaw_target_cd) { return false; }
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virtual MAV_VTOL_STATE get_mav_vtol_state() const = 0;
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virtual bool set_VTOL_roll_pitch_limit(int32_t& nav_roll_cd, int32_t& nav_pitch_cd) { return false; }
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virtual bool allow_weathervane() { return true; }
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protected:
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// refences for convenience
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QuadPlane& quadplane;
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AP_MotorsMulticopter*& motors;
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};
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// Transition for separate left thrust quadplanes
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class SLT_Transition : public Transition
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{
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public:
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using Transition::Transition;
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void update() override;
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void VTOL_update() override;
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void force_transistion_complete() override;
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bool complete() const override { return transition_state == TRANSITION_DONE; }
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void restart() override { transition_state = TRANSITION_AIRSPEED_WAIT; }
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uint8_t get_log_transision_state() const override { return static_cast<uint8_t>(transition_state); }
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bool active() const override;
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bool show_vtol_view() const override;
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bool set_FW_roll_limit(int32_t& roll_limit_cd) override;
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bool allow_update_throttle_mix() const override;
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MAV_VTOL_STATE get_mav_vtol_state() const override;
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bool set_VTOL_roll_pitch_limit(int32_t& nav_roll_cd, int32_t& nav_pitch_cd) override;
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protected:
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enum {
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TRANSITION_AIRSPEED_WAIT,
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TRANSITION_TIMER,
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TRANSITION_DONE
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} transition_state;
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// timer start for transition
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uint32_t transition_start_ms;
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uint32_t transition_low_airspeed_ms;
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// last throttle value when active
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float last_throttle;
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// time and pitch angle whe last in a vtol or FW control mode
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uint32_t last_fw_mode_ms;
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int32_t last_fw_nav_pitch_cd;
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// tiltrotor tilt angle when airspeed wait transition stage completes
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float airspeed_reached_tilt;
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bool in_forced_transition;
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};
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