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