mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.7 KiB
C++
66 lines
1.7 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
control code for tailsitters. Enabled by setting Q_FRAME_CLASS=10
|
|
*/
|
|
|
|
#include "Plane.h"
|
|
|
|
/*
|
|
return true when flying a tailsitter
|
|
*/
|
|
bool QuadPlane::is_tailsitter(void)
|
|
{
|
|
return available() && frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER;
|
|
}
|
|
|
|
/*
|
|
check if we are flying as a tailsitter
|
|
*/
|
|
bool QuadPlane::tailsitter_active(void)
|
|
{
|
|
return is_tailsitter() && in_vtol_mode();
|
|
}
|
|
|
|
/*
|
|
run output for tailsitters
|
|
*/
|
|
void QuadPlane::tailsitter_output(void)
|
|
{
|
|
if (tailsitter_active()) {
|
|
motors_output();
|
|
plane.pitchController.reset_I();
|
|
plane.rollController.reset_I();
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
return true when we have completed enough of a transition to switch to fixed wing control
|
|
*/
|
|
bool QuadPlane::tailsitter_transition_complete(void)
|
|
{
|
|
if (plane.fly_inverted()) {
|
|
// transition immediately
|
|
return true;
|
|
}
|
|
if (ahrs_view->pitch_sensor < -tailsitter.transition_angle*100 ||
|
|
ahrs_view->roll_sensor < -tailsitter.transition_angle*100) {
|
|
return true;
|
|
}
|
|
// still waiting
|
|
return false;
|
|
}
|