Add support for a 'standard' VTOL with pusher/tractor motor.

2026-10-27 15:03:34 +08:00 · 2015-08-06 10:49:39 +02:00
parent 951b27518f
commit 5adb3cc308
13 changed files with 601 additions and 41 deletions
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+ /**
+ * @file standard.h
+ * VTOL with fixed multirotor motor configurations (such as quad) and a pusher
+ * (or puller aka tractor) motor for forward flight.
+ *
+ * @author Simon Wilks 		<simon@uaventure.com>
+ * @author Roman Bapst 		<bapstroman@gmail.com>
+ *
+ */
+
+#ifndef STANDARD_H
+#define STANDARD_H
+#include "vtol_type.h"
+#include <systemlib/param/param.h>
+#include <drivers/drv_hrt.h>
+
+class Standard : public VtolType
+{
+
+public:
+
+	Standard(VtolAttitudeControl * _att_controller);
+	~Standard();
+
+	void update_vtol_state();
+	void update_mc_state();
+	void process_mc_data();
+	void update_fw_state();
+	void process_fw_data();
+	void update_transition_state();
+	void update_external_state();
+
+private:
+
+	struct {
+		float front_trans_dur;
+		float back_trans_dur;
+		float pusher_trans;
+		float airspeed_blend;
+		float airspeed_trans;
+	} _params_standard;
+
+	struct {
+		param_t front_trans_dur;
+		param_t back_trans_dur;
+		param_t pusher_trans;
+		param_t airspeed_blend;
+		param_t airspeed_trans;
+	} _params_handles_standard;
+
+	enum vtol_mode {
+		MC_MODE = 0,
+		TRANSITION_TO_FW,
+		TRANSITION_TO_MC,
+		FW_MODE
+	};
+
+	struct {
+		vtol_mode flight_mode;			// indicates in which mode the vehicle is in
+		hrt_abstime transition_start;	// at what time did we start a transition (front- or backtransition)
+	}_vtol_schedule;
+
+	bool _flag_enable_mc_motors;
+	float _pusher_throttle;
+	float _mc_att_ctl_weight;	// the amount of multicopter attitude control that should be applied in fixed wing mode while transitioning 
+	float _airspeed_trans_blend_margin;
+
+	void fill_att_control_output();
+	void set_max_mc(unsigned pwm_value);
+
+	int parameters_update();
+
+};
+#endif