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75 lines
2.5 KiB
C++
75 lines
2.5 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 tiltrotor.h
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*
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* @author Roman Bapst <bapstroman@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>
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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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void update_vtol_state();
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void update_mc_state();
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void process_mc_data();
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void update_fw_state();
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void process_fw_data();
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void update_transition_state();
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void update_external_state();
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private:
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void fill_mc_att_control_output();
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void fill_fw_att_control_output();
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void calc_tot_airspeed();
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void scale_mc_output();
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float _airspeed_tot;
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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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#endif
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