mirror of https://github.com/ArduPilot/ardupilot
115 lines
4.0 KiB
C++
115 lines
4.0 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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Rover Sailboat functionality
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*/
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class Sailboat
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{
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public:
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// constructor
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Sailboat();
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// enabled
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bool sail_enabled() const { return enable > 0;}
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// true if sailboat navigation (aka tacking) is enabled
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bool tack_enabled() const;
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// setup
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void init();
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// initialise rc input (channel_mainsail)
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void init_rc_in();
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// decode pilot mainsail input and return in steer_out and throttle_out arguments
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// mainsail_out is in the range 0 to 100, defaults to 100 (fully relaxed) if no input configured
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// wingsail_out is in the range -100 to 100, defaults to 0
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void get_pilot_desired_mainsail(float &mainsail_out, float &wingsail_out);
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// calculate throttle and mainsail angle required to attain desired speed (in m/s)
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void get_throttle_and_mainsail_out(float desired_speed, float &throttle_out, float &mainsail_out, float &wingsail_out);
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// Velocity Made Good, this is the speed we are traveling towards the desired destination
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float get_VMG() const;
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// handle user initiated tack while in acro mode
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void handle_tack_request_acro();
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// return target heading in radians when tacking (only used in acro)
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float get_tack_heading_rad();
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// handle user initiated tack while in autonomous modes (Auto, Guided, RTL, SmartRTL, etc)
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void handle_tack_request_auto();
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// clear tacking state variables
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void clear_tack();
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// returns true if boat is currently tacking
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bool tacking() const;
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// returns true if sailboat should take a indirect navigation route to go upwind
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bool use_indirect_route(float desired_heading_cd) const;
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// calculate the heading to sail on if we cant go upwind
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float calc_heading(float desired_heading_cd);
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// states of USE_MOTOR parameter and motor_state variable
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enum class UseMotor {
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USE_MOTOR_NEVER = 0,
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USE_MOTOR_ASSIST = 1,
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USE_MOTOR_ALWAYS = 2
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};
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// set state of motor
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// if report_failure is true a message will be sent to all GCSs
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void set_motor_state(UseMotor state, bool report_failure = true);
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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// return sailboat loiter radius
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float get_loiter_radius() const {return loit_radius;}
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private:
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// true if motor is on to assist with slow tack
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bool motor_assist_tack() const;
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// true if motor should be on to assist with low wind
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bool motor_assist_low_wind() const;
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// parameters
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AP_Int8 enable;
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AP_Float sail_angle_min;
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AP_Float sail_angle_max;
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AP_Float sail_angle_ideal;
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AP_Float sail_heel_angle_max;
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AP_Float sail_no_go;
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AP_Float sail_windspeed_min;
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AP_Float xtrack_max;
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AP_Float loit_radius;
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RC_Channel *channel_mainsail; // rc input channel for controlling mainsail
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bool currently_tacking; // true when sailboat is in the process of tacking to a new heading
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float tack_heading_rad; // target heading in radians while tacking in either acro or autonomous modes
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uint32_t tack_request_ms; // system time user requested tack
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uint32_t auto_tack_start_ms; // system time when tack was started in autonomous mode
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uint32_t tack_clear_ms; // system time when tack was cleared
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bool tack_assist; // true if we should use some throttle to assist tack
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UseMotor motor_state; // current state of motor output
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};
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