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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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129 lines
4.4 KiB
C++
129 lines
4.4 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 tailsitter.h
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*
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* @author Roman Bapst <bapstroman@gmail.com>
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* @author David Vorsin <davidvorsin@gmail.com>
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*
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*/
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#ifndef TAILSITTER_H
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#define TAILSITTER_H
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#include "vtol_type.h"
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#include <systemlib/perf_counter.h> /** is it necsacery? **/
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#include <systemlib/param/param.h>
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#include <drivers/drv_hrt.h>
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class Tailsitter : public VtolType
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{
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public:
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Tailsitter(VtolAttitudeControl *_att_controller);
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~Tailsitter();
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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_mc_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; /**< duration of first part of front transition */
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float front_trans_dur_p2;
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float back_trans_dur; /**< duration of back transition */
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float airspeed_trans; /**< airspeed at which we switch to fw mode after transition */
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float airspeed_blend_start; /**< airspeed at which we start blending mc/fw controls */
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int elevons_mc_lock; /**< lock elevons in multicopter mode */
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} _params_tailsitter;
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struct {
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param_t front_trans_dur;
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param_t front_trans_dur_p2;
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param_t back_trans_dur;
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param_t airspeed_trans;
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param_t airspeed_blend_start;
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param_t elevons_mc_lock;
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} _params_handles_tailsitter;
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enum vtol_mode {
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MC_MODE = 0, /**< vtol is in multicopter mode */
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TRANSITION_FRONT_P1, /**< vtol is in front transition part 1 mode */
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TRANSITION_FRONT_P2, /**< vtol is in front transition part 2 mode */
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TRANSITION_BACK, /**< vtol is in back transition mode */
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FW_MODE /**< vtol is in fixed wing mode */
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};
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struct {
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vtol_mode flight_mode; /**< vtol flight mode, defined by enum vtol_mode */
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hrt_abstime transition_start; /**< absoulte time at which front transition started */
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} _vtol_schedule;
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float _airspeed_tot; /** speed estimation for propwash controlled surfaces */
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/** not sure about it yet ?! **/
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float _min_front_trans_dur; /**< min possible time in which rotors are rotated into the first position */
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float _thrust_transition_start; // throttle value when we start the front transition
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float _yaw_transition; // yaw angle in which transition will take place
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float _pitch_transition_start; // pitch angle at the start of transition (tailsitter)
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/** should this anouncement stay? **/
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perf_counter_t _loop_perf; /**< loop performance counter */
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perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
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/**
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* Speed estimation for propwash controlled surfaces.
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*/
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void calc_tot_airspeed();
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/** is this one still needed? */
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void scale_mc_output();
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/**
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* Update parameters.
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*/
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virtual void parameters_update();
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};
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#endif
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