ardupilot/libraries/AP_Vehicle/AP_FixedWing.h

53 lines
1.3 KiB
C

#pragma once
#include <AP_Param/AP_Param.h>
/*
common parameters for fixed wing aircraft
*/
struct AP_FixedWing {
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_slewrate;
AP_Int8 throttle_cruise;
AP_Int8 takeoff_throttle_max;
AP_Int16 airspeed_min;
AP_Int16 airspeed_max;
AP_Int32 airspeed_cruise_cm;
AP_Int32 min_gndspeed_cm;
AP_Int8 crash_detection_enable;
AP_Int16 roll_limit_cd;
AP_Int16 pitch_limit_max_cd;
AP_Int16 pitch_limit_min_cd;
AP_Int8 autotune_level;
AP_Int32 autotune_options;
AP_Int8 stall_prevention;
AP_Int16 loiter_radius;
AP_Int16 pitch_trim_cd;
AP_Float takeoff_throttle_max_t;
struct Rangefinder_State {
bool in_range:1;
bool have_initial_reading:1;
bool in_use:1;
float initial_range;
float correction;
float initial_correction;
float last_stable_correction;
uint32_t last_correction_time_ms;
uint8_t in_range_count;
float height_estimate;
float last_distance;
};
// stages of flight
enum class FlightStage {
TAKEOFF = 1,
VTOL = 2,
NORMAL = 3,
LAND = 4,
ABORT_LANDING = 7
};
};