ardupilot/libraries/AC_InputManager/AC_InputManager_Heli.h

55 lines
2.3 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#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 400
# define AC_ATTITUDE_HELI_STAB_COLLECTIVE_HIGH_DEFAULT 600
# define AC_ATTITUDE_HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
/// @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(uint16_t loop_rate):
AC_InputManager(loop_rate)
{
// setup parameter defaults
AP_Param::setup_object_defaults(this, var_info);
}
// 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); }
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
};