ardupilot/libraries/AP_Motors/AP_MotorsMatrixTS.h

33 lines
1.0 KiB
C++

/// @file AP_MotorsMatrixTS.h
/// @brief Motor control class for tailsitters with multicopter motor configurations
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <SRV_Channel/SRV_Channel.h>
#include "AP_MotorsMatrix.h"
/// @class AP_MotorsMatrix
class AP_MotorsMatrixTS : public AP_MotorsMatrix {
public:
AP_MotorsMatrixTS(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_MotorsMatrix(loop_rate, speed_hz) {
AP_Param::setup_object_defaults(this, var_info);
};
virtual void output_to_motors() override;
virtual void output_motor_mask(float thrust, uint8_t mask, float rudder_dt) override;
protected:
bool enable_yaw_torque; // differential torque for yaw control
// configures the motors for the defined frame_class and frame_type
virtual void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type) override;
// calculate motor outputs
void output_armed_stabilizing() override;
};