mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-07 08:28:30 -04:00
e8b11924f8
use both roll and pitch to trigger completion of transition. This copes with situations where the plane has managed to get itself rolled over far enough that it can't recover into hover
64 lines
1.6 KiB
C++
64 lines
1.6 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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motors_output();
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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 (ahrs_view->pitch_sensor < -tailsitter.transition_angle*100 ||
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ahrs_view->roll_sensor < -tailsitter.transition_angle*100) {
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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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