mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-12 14:31:36 +08:00
Silvan Fuhrer
3c9108e11e
Transitions in Stabilized mode are done manually, the pilot controls the pitch angle and if it's above the threshold the transition is declared finished (plus airspeed check for front transition). Thus we can't have fixed thresholds but need to link them to the actual max pitch angle in Stabilized mode. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
98 lines
3.5 KiB
C++
98 lines
3.5 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2015-2023 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 tailsitter.h
|
|
*
|
|
* @author Roman Bapst <bapstroman@gmail.com>
|
|
* @author David Vorsin <davidvorsin@gmail.com>
|
|
*
|
|
*/
|
|
|
|
#ifndef TAILSITTER_H
|
|
#define TAILSITTER_H
|
|
|
|
#include "vtol_type.h"
|
|
|
|
#include <parameters/param.h>
|
|
#include <drivers/drv_hrt.h>
|
|
#include <matrix/matrix/math.hpp>
|
|
|
|
// [rad] Pitch threshold required for completing transition to fixed-wing in automatic transitions
|
|
static constexpr float PITCH_THRESHOLD_AUTO_TRANSITION_TO_FW = -1.05f; // -60°
|
|
|
|
// [rad] Pitch threshold required for completing transition to hover in automatic transitions
|
|
static constexpr float PITCH_THRESHOLD_AUTO_TRANSITION_TO_MC = -0.26f; // -15°
|
|
|
|
class Tailsitter : public VtolType
|
|
{
|
|
|
|
public:
|
|
Tailsitter(VtolAttitudeControl *_att_controller);
|
|
~Tailsitter() override = default;
|
|
|
|
void update_vtol_state() override;
|
|
void update_transition_state() override;
|
|
void update_fw_state() override;
|
|
void fill_actuator_outputs() override;
|
|
void waiting_on_tecs() override;
|
|
|
|
private:
|
|
enum class vtol_mode {
|
|
MC_MODE = 0, /**< vtol is in multicopter mode */
|
|
TRANSITION_FRONT_P1, /**< vtol is in front transition part 1 mode */
|
|
TRANSITION_BACK, /**< vtol is in back transition mode */
|
|
FW_MODE /**< vtol is in fixed wing mode */
|
|
};
|
|
|
|
vtol_mode _vtol_mode{vtol_mode::MC_MODE}; /**< vtol flight mode, defined by enum vtol_mode */
|
|
|
|
bool _flag_was_in_trans_mode = false; // true if mode has just switched to transition
|
|
|
|
matrix::Quatf _q_trans_start;
|
|
matrix::Quatf _q_trans_sp;
|
|
matrix::Vector3f _trans_rot_axis;
|
|
|
|
void parameters_update() override;
|
|
|
|
bool isFrontTransitionCompletedBase() override;
|
|
|
|
DEFINE_PARAMETERS_CUSTOM_PARENT(VtolType,
|
|
(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
|
|
(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_tilt_max
|
|
)
|
|
|
|
|
|
};
|
|
#endif
|