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adding variables for tailsitter transition

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davidvor 2015-08-26 17:21:00 +03:00 committed by tumbili
parent 0d58429565
commit 2bf460cdfe
1 changed files with 16 additions and 15 deletions
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31
src/modules/vtol_att_control/vtol_type.h
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@ -91,22 +91,22 @@ protected:
VtolAttitudeControl *_attc;
mode _vtol_mode;
struct vehicle_attitude_s *_v_att; //vehicle attitude
struct vehicle_attitude_setpoint_s *_v_att_sp; //vehicle attitude setpoint
struct vehicle_rates_setpoint_s *_v_rates_sp; //vehicle rates setpoint
struct vehicle_rates_setpoint_s *_mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint
struct vehicle_rates_setpoint_s *_fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint
struct manual_control_setpoint_s *_manual_control_sp; //manual control setpoint
struct vehicle_control_mode_s *_v_control_mode; //vehicle control mode
struct vehicle_attitude_s *_v_att; //vehicle attitude
struct vehicle_attitude_setpoint_s *_v_att_sp; //vehicle attitude setpoint
struct vehicle_rates_setpoint_s *_v_rates_sp; //vehicle rates setpoint
struct vehicle_rates_setpoint_s *_mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint
struct vehicle_rates_setpoint_s *_fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint
struct manual_control_setpoint_s *_manual_control_sp; //manual control setpoint
struct vehicle_control_mode_s *_v_control_mode; //vehicle control mode
struct vtol_vehicle_status_s *_vtol_vehicle_status;
struct actuator_controls_s *_actuators_out_0; //actuator controls going to the mc mixer
struct actuator_controls_s *_actuators_out_1; //actuator controls going to the fw mixer (used for elevons)
struct actuator_controls_s *_actuators_mc_in; //actuator controls from mc_att_control
struct actuator_controls_s *_actuators_fw_in; //actuator controls from fw_att_control
struct actuator_armed_s *_armed; //actuator arming status
struct actuator_controls_s *_actuators_out_0; //actuator controls going to the mc mixer
struct actuator_controls_s *_actuators_out_1; //actuator controls going to the fw mixer (used for elevons)
struct actuator_controls_s *_actuators_mc_in; //actuator controls from mc_att_control
struct actuator_controls_s *_actuators_fw_in; //actuator controls from fw_att_control
struct actuator_armed_s *_armed; //actuator arming status
struct vehicle_local_position_s *_local_pos;
struct airspeed_s *_airspeed; // airspeed
struct battery_status_s *_batt_status; // battery status
struct airspeed_s *_airspeed; // airspeed
struct battery_status_s *_batt_status; // battery status
struct Params *_params;
@ -117,7 +117,8 @@ protected:
float _mc_yaw_weight; // weight for multicopter attitude controller yaw output
float _yaw_transition; // yaw angle in which transition will take place
float _throttle_transition; // throttle value used for the transition phase
float _throttle_transition; // throttle value used for the transition phase
float _pitch_transition_start; // pitch angle at the start of transition (tailsitter)
bool _flag_was_in_trans_mode; // true if mode has just switched to transition
};