mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.3 KiB
C
53 lines
1.3 KiB
C
#pragma once
|
|
|
|
#include <AP_Param/AP_Param.h>
|
|
|
|
/*
|
|
common parameters for fixed wing aircraft
|
|
*/
|
|
struct AP_FixedWing {
|
|
AP_Int8 throttle_min;
|
|
AP_Int8 throttle_max;
|
|
AP_Int8 throttle_slewrate;
|
|
AP_Int8 throttle_cruise;
|
|
AP_Int8 takeoff_throttle_max;
|
|
AP_Int16 airspeed_min;
|
|
AP_Int16 airspeed_max;
|
|
AP_Int32 airspeed_cruise_cm;
|
|
AP_Int32 min_gndspeed_cm;
|
|
AP_Int8 crash_detection_enable;
|
|
AP_Int16 roll_limit_cd;
|
|
AP_Int16 pitch_limit_max_cd;
|
|
AP_Int16 pitch_limit_min_cd;
|
|
AP_Int8 autotune_level;
|
|
AP_Int32 autotune_options;
|
|
AP_Int8 stall_prevention;
|
|
AP_Int16 loiter_radius;
|
|
AP_Int16 pitch_trim_cd;
|
|
AP_Float takeoff_throttle_max_t;
|
|
|
|
struct Rangefinder_State {
|
|
bool in_range:1;
|
|
bool have_initial_reading:1;
|
|
bool in_use:1;
|
|
float initial_range;
|
|
float correction;
|
|
float initial_correction;
|
|
float last_stable_correction;
|
|
uint32_t last_correction_time_ms;
|
|
uint8_t in_range_count;
|
|
float height_estimate;
|
|
float last_distance;
|
|
};
|
|
|
|
|
|
// stages of flight
|
|
enum class FlightStage {
|
|
TAKEOFF = 1,
|
|
VTOL = 2,
|
|
NORMAL = 3,
|
|
LAND = 4,
|
|
ABORT_LANDING = 7
|
|
};
|
|
};
|