ardupilot/libraries/AC_InputManager/AC_InputManager_Heli.h

60 lines
2.5 KiB
C++

#pragma once
/// @file AC_InputManager_Heli.h
/// @brief Pilot manual control input library for Conventional Helicopter
#include <AP_Param/AP_Param.h>
#include <AP_Common/AP_Common.h>
#include "AC_InputManager.h"
# define AC_ATTITUDE_HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
# define AC_ATTITUDE_HELI_STAB_COLLECTIVE_LOW_DEFAULT 40
# define AC_ATTITUDE_HELI_STAB_COLLECTIVE_HIGH_DEFAULT 60
# define AC_ATTITUDE_HELI_STAB_COLLECTIVE_MAX_DEFAULT 100
/// @class AP_InputManager_Heli
/// @brief Class managing the pilot's control inputs for Conventional Helicopter
class AC_InputManager_Heli : public AC_InputManager {
public:
// Constructor
AC_InputManager_Heli()
: AC_InputManager()
{
// setup parameter defaults
AP_Param::setup_object_defaults(this, var_info);
}
/* Do not allow copies */
AC_InputManager_Heli(const AC_InputManager_Heli &other) = delete;
AC_InputManager_Heli &operator=(const AC_InputManager_Heli&) = delete;
// get_pilot_desired_collective - rescale's pilot collective pitch input in Stabilize and Acro modes
float get_pilot_desired_collective(int16_t control_in);
// set_use_stab_col - setter function
void set_use_stab_col(bool use) { _im_flags_heli.use_stab_col = use; }
// set_heli_stab_col_ramp - setter function
void set_stab_col_ramp(float ramp) { _stab_col_ramp = constrain_float(ramp, 0.0, 1.0); }
// parameter_check - returns true if input manager specific parameters are sensible, used for pre-arm check
bool parameter_check(char* fail_msg, uint8_t fail_msg_len) const;
static const struct AP_Param::GroupInfo var_info[];
private:
struct InputManagerHeliFlags {
uint8_t use_stab_col : 1; // 1 if we should use Stabilise mode collective range, 0 for Acro range
} _im_flags_heli;
// factor used to smoothly ramp collective from Acro value to Stab-Col value
float _stab_col_ramp = 0;
AP_Int16 _heli_stab_col_min; // minimum collective pitch setting at zero throttle input in Stabilize mode
AP_Int16 _heli_stab_col_low; // collective pitch setting at mid-low throttle input in Stabilize mode
AP_Int16 _heli_stab_col_high; // collective pitch setting at mid-high throttle input in Stabilize mode
AP_Int16 _heli_stab_col_max; // maximum collective pitch setting at full throttle input in Stabilize mode
AP_Float _acro_col_expo; // used to soften collective pitch inputs near center point in Acro mode
};