mirror of https://github.com/ArduPilot/ardupilot
117 lines
3.4 KiB
C++
117 lines
3.4 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/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_Param/AP_Param.h>
|
|
class QuadPlane;
|
|
class AP_MotorsMulticopter;
|
|
class Tailsitter
|
|
{
|
|
friend class QuadPlane;
|
|
friend class Plane;
|
|
public:
|
|
|
|
Tailsitter(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors);
|
|
|
|
bool enabled() const { return enable > 0;}
|
|
|
|
// return true when flying a control surface only tailsitter
|
|
bool is_control_surface_tailsitter(void) const;
|
|
|
|
// return true when flying a tailsitter in VTOL
|
|
bool active(void);
|
|
|
|
// create outputs for tailsitters
|
|
void output(void);
|
|
|
|
// handle different tailsitter input types
|
|
void check_input(void);
|
|
|
|
// check if we have completed transition to fixed wing
|
|
bool transition_fw_complete(void);
|
|
|
|
// return true if we are a tailsitter in FW flight
|
|
bool is_in_fw_flight(void) const;
|
|
|
|
// check if we have completed transition to vtol
|
|
bool transition_vtol_complete(void) const;
|
|
|
|
// return true if transistion to VTOL flight
|
|
bool in_vtol_transition(uint32_t now = 0) const;
|
|
|
|
// account for control surface speed scaling in VTOL modes
|
|
void speed_scaling(void);
|
|
|
|
// return the transition_angle_vtol value
|
|
int8_t get_transition_angle_vtol() const;
|
|
|
|
|
|
// true when flying a tilt-vectored tailsitter
|
|
bool _is_vectored;
|
|
|
|
// tailsitter speed scaler
|
|
float last_spd_scaler = 1.0f; // used to slew rate limiting with TAILSITTER_GSCL_ATT_THR option
|
|
float log_spd_scaler; // for QTUN log
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
// bit 0 enables plane mode and bit 1 enables body-frame roll mode
|
|
enum input {
|
|
TAILSITTER_INPUT_PLANE = (1U<<0),
|
|
TAILSITTER_INPUT_BF_ROLL = (1U<<1)
|
|
};
|
|
|
|
enum mask {
|
|
TAILSITTER_MASK_AILERON = (1U<<0),
|
|
TAILSITTER_MASK_ELEVATOR = (1U<<1),
|
|
TAILSITTER_MASK_THROTTLE = (1U<<2),
|
|
TAILSITTER_MASK_RUDDER = (1U<<3),
|
|
};
|
|
|
|
enum gscl_mask {
|
|
TAILSITTER_GSCL_THROTTLE = (1U<<0),
|
|
TAILSITTER_GSCL_ATT_THR = (1U<<1),
|
|
TAILSITTER_GSCL_DISK_THEORY = (1U<<2),
|
|
TAILSITTER_GSCL_ALTITUDE = (1U<<3),
|
|
};
|
|
|
|
AP_Int8 enable;
|
|
AP_Int8 transition_angle_fw;
|
|
AP_Float transition_rate_fw;
|
|
AP_Int8 transition_angle_vtol;
|
|
AP_Float transition_rate_vtol;
|
|
AP_Int8 input_type;
|
|
AP_Int8 input_mask;
|
|
AP_Int8 input_mask_chan;
|
|
AP_Float vectored_forward_gain;
|
|
AP_Float vectored_hover_gain;
|
|
AP_Float vectored_hover_power;
|
|
AP_Float throttle_scale_max;
|
|
AP_Float gain_scaling_min;
|
|
AP_Float max_roll_angle;
|
|
AP_Int16 motor_mask;
|
|
AP_Float scaling_speed_min;
|
|
AP_Float scaling_speed_max;
|
|
AP_Int16 gain_scaling_mask;
|
|
AP_Float disk_loading;
|
|
|
|
private:
|
|
|
|
// refences for convenience
|
|
QuadPlane& quadplane;
|
|
AP_MotorsMulticopter*& motors;
|
|
|
|
};
|