mirror of https://github.com/ArduPilot/ardupilot
116 lines
4.1 KiB
C++
116 lines
4.1 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/>.
|
|
*/
|
|
|
|
/*
|
|
Rover Sailboat functionality
|
|
*/
|
|
class Sailboat
|
|
{
|
|
public:
|
|
|
|
// constructor
|
|
Sailboat();
|
|
|
|
// enabled
|
|
bool sail_enabled() const { return enable > 0;}
|
|
|
|
// true if sailboat navigation (aka tacking) is enabled
|
|
bool tack_enabled() const;
|
|
|
|
// setup
|
|
void init();
|
|
|
|
// initialise rc input (channel_mainsail)
|
|
void init_rc_in();
|
|
|
|
// decode pilot mainsail input and return in steer_out and throttle_out arguments
|
|
// mainsail_out is in the range 0 to 100, defaults to 100 (fully relaxed) if no input configured
|
|
// wingsail_out is in the range -100 to 100, defaults to 0
|
|
// mast_rotation_out is in the range -100 to 100, defaults to 0
|
|
void get_pilot_desired_mainsail(float &mainsail_out, float &wingsail_out, float &mast_rotation_out);
|
|
|
|
// calculate throttle and mainsail angle required to attain desired speed (in m/s)
|
|
void get_throttle_and_mainsail_out(float desired_speed, float &throttle_out, float &mainsail_out, float &wingsail_out, float &mast_rotation_out);
|
|
|
|
// Velocity Made Good, this is the speed we are traveling towards the desired destination
|
|
float get_VMG() const;
|
|
|
|
// handle user initiated tack while in acro mode
|
|
void handle_tack_request_acro();
|
|
|
|
// return target heading in radians when tacking (only used in acro)
|
|
float get_tack_heading_rad();
|
|
|
|
// handle user initiated tack while in autonomous modes (Auto, Guided, RTL, SmartRTL, etc)
|
|
void handle_tack_request_auto();
|
|
|
|
// clear tacking state variables
|
|
void clear_tack();
|
|
|
|
// returns true if boat is currently tacking
|
|
bool tacking() const;
|
|
|
|
// returns true if sailboat should take a indirect navigation route to go upwind
|
|
bool use_indirect_route(float desired_heading_cd) const;
|
|
|
|
// calculate the heading to sail on if we cant go upwind
|
|
float calc_heading(float desired_heading_cd);
|
|
|
|
// states of USE_MOTOR parameter and motor_state variable
|
|
enum class UseMotor {
|
|
USE_MOTOR_NEVER = 0,
|
|
USE_MOTOR_ASSIST = 1,
|
|
USE_MOTOR_ALWAYS = 2
|
|
};
|
|
|
|
// set state of motor
|
|
// if report_failure is true a message will be sent to all GCSs
|
|
void set_motor_state(UseMotor state, bool report_failure = true);
|
|
|
|
// var_info for holding Parameter information
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
// return sailboat loiter radius
|
|
float get_loiter_radius() const {return loit_radius;}
|
|
|
|
private:
|
|
|
|
// true if motor is on to assist with slow tack
|
|
bool motor_assist_tack() const;
|
|
|
|
// true if motor should be on to assist with low wind
|
|
bool motor_assist_low_wind() const;
|
|
|
|
// parameters
|
|
AP_Int8 enable;
|
|
AP_Float sail_angle_min;
|
|
AP_Float sail_angle_max;
|
|
AP_Float sail_angle_ideal;
|
|
AP_Float sail_heel_angle_max;
|
|
AP_Float sail_no_go;
|
|
AP_Float sail_windspeed_min;
|
|
AP_Float xtrack_max;
|
|
AP_Float loit_radius;
|
|
|
|
RC_Channel *channel_mainsail; // rc input channel for controlling mainsail
|
|
bool currently_tacking; // true when sailboat is in the process of tacking to a new heading
|
|
float tack_heading_rad; // target heading in radians while tacking in either acro or autonomous modes
|
|
uint32_t tack_request_ms; // system time user requested tack
|
|
uint32_t auto_tack_start_ms; // system time when tack was started in autonomous mode
|
|
uint32_t tack_clear_ms; // system time when tack was cleared
|
|
bool tack_assist; // true if we should use some throttle to assist tack
|
|
UseMotor motor_state; // current state of motor output
|
|
};
|