mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 03:43:35 +08:00
127 lines
3.8 KiB
C++
127 lines
3.8 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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>
|
|
* @author Andreas Antener <andreas@uaventure.com>
|
|
* @author Sander Smeets <sander@droneslab.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();
|
|
|
|
virtual void update_vtol_state();
|
|
virtual void update_transition_state();
|
|
virtual void update_fw_state();
|
|
virtual void update_mc_state();
|
|
virtual void fill_actuator_outputs();
|
|
virtual void waiting_on_tecs();
|
|
|
|
private:
|
|
|
|
struct {
|
|
float front_trans_dur;
|
|
float back_trans_dur;
|
|
float back_trans_ramp;
|
|
float pusher_trans;
|
|
float airspeed_blend;
|
|
float airspeed_trans;
|
|
float front_trans_timeout;
|
|
float front_trans_time_min;
|
|
float down_pitch_max;
|
|
float forward_thrust_scale;
|
|
int airspeed_mode;
|
|
float pitch_setpoint_offset;
|
|
float reverse_output;
|
|
float reverse_throttle;
|
|
float mpc_xy_cruise;
|
|
} _params_standard;
|
|
|
|
struct {
|
|
param_t front_trans_dur;
|
|
param_t back_trans_dur;
|
|
param_t back_trans_ramp;
|
|
param_t pusher_trans;
|
|
param_t airspeed_blend;
|
|
param_t airspeed_trans;
|
|
param_t front_trans_timeout;
|
|
param_t front_trans_time_min;
|
|
param_t down_pitch_max;
|
|
param_t forward_thrust_scale;
|
|
param_t airspeed_mode;
|
|
param_t pitch_setpoint_offset;
|
|
param_t reverse_output;
|
|
param_t reverse_throttle;
|
|
param_t mpc_xy_cruise;
|
|
} _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 _reverse_output;
|
|
float _airspeed_trans_blend_margin;
|
|
|
|
void set_max_mc(unsigned pwm_value);
|
|
|
|
virtual void parameters_update();
|
|
};
|
|
#endif
|