mirror of https://github.com/ArduPilot/ardupilot
138 lines
3.8 KiB
C++
138 lines
3.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_Param/AP_Param.h>
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#include "transition.h"
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class QuadPlane;
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class AP_MotorsMulticopter;
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class Tiltrotor_Transition;
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class Tiltrotor
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{
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friend class QuadPlane;
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friend class Plane;
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friend class Tiltrotor_Transition;
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public:
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Tiltrotor(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors);
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bool enabled() const { return (enable > 0) && setup_complete;}
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void setup();
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void slew(float tilt);
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void binary_slew(bool forward);
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void update();
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void continuous_update();
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void binary_update();
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void vectoring();
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void bicopter_output();
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void tilt_compensate_angle(float *thrust, uint8_t num_motors, float non_tilted_mul, float tilted_mul);
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void tilt_compensate(float *thrust, uint8_t num_motors);
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bool tilt_over_max_angle(void) const;
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bool is_motor_tilting(uint8_t motor) const {
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return tilt_mask.get() & (1U<<motor);
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}
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bool fully_fwd() const;
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bool fully_up() const;
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float tilt_max_change(bool up, bool in_flap_range = false) const;
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float get_fully_forward_tilt() const;
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float get_forward_flight_tilt() const;
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// update yaw target for tiltrotor transition
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void update_yaw_target();
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bool is_vectored() const { return enabled() && _is_vectored; }
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bool has_fw_motor() const { return _have_fw_motor; }
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bool has_vtol_motor() const { return _have_vtol_motor; }
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bool motors_active() const { return enabled() && _motors_active; }
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// true if the tilts have completed slewing
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// always return true if not enabled or not a continuous type
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bool tilt_angle_achieved() const { return !enabled() || (type != TILT_TYPE_CONTINUOUS) || angle_achieved; }
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AP_Int8 enable;
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AP_Int16 tilt_mask;
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AP_Int16 max_rate_up_dps;
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AP_Int16 max_rate_down_dps;
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AP_Int8 max_angle_deg;
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AP_Int8 type;
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AP_Float tilt_yaw_angle;
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AP_Float fixed_angle;
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AP_Float fixed_gain;
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AP_Float flap_angle_deg;
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float current_tilt;
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float current_throttle;
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bool _motors_active:1;
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float transition_yaw_cd;
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uint32_t transition_yaw_set_ms;
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bool _is_vectored;
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// types of tilt mechanisms
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enum {TILT_TYPE_CONTINUOUS =0,
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TILT_TYPE_BINARY =1,
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TILT_TYPE_VECTORED_YAW =2,
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TILT_TYPE_BICOPTER =3
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};
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static const struct AP_Param::GroupInfo var_info[];
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private:
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bool setup_complete;
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// true if a fixed forward motor is setup
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bool _have_fw_motor;
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// true if all motors tilt with no fixed VTOL motor
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bool _have_vtol_motor;
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// true if the current tilt angle is equal to the desired
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// with slow tilt rates the tilt angle can lag
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bool angle_achieved;
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// refences for convenience
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QuadPlane& quadplane;
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AP_MotorsMulticopter*& motors;
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Tiltrotor_Transition* transition;
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};
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// Transition for separate left thrust quadplanes
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class Tiltrotor_Transition : public SLT_Transition
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{
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friend class Tiltrotor;
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public:
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Tiltrotor_Transition(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors, Tiltrotor& _tiltrotor):SLT_Transition(_quadplane, _motors), tiltrotor(_tiltrotor) {};
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bool update_yaw_target(float& yaw_target_cd) override;
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bool show_vtol_view() const override;
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private:
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Tiltrotor& tiltrotor;
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};
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