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125 lines
4.7 KiB
125 lines
4.7 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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control code for tailsitters. Enabled by setting Q_FRAME_CLASS=10 |
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*/ |
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#include "Plane.h" |
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/* |
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return true when flying a tailsitter |
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*/ |
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bool QuadPlane::is_tailsitter(void) |
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{ |
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return available() && frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER; |
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} |
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/* |
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check if we are flying as a tailsitter |
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*/ |
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bool QuadPlane::tailsitter_active(void) |
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{ |
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return is_tailsitter() && in_vtol_mode(); |
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} |
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/* |
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run output for tailsitters |
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*/ |
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void QuadPlane::tailsitter_output(void) |
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{ |
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if (!tailsitter_active()) { |
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if (tailsitter.vectored_forward_gain > 0) { |
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// thrust vectoring in fixed wing flight |
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float aileron = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron); |
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float elevator = SRV_Channels::get_output_scaled(SRV_Channel::k_elevator); |
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float tilt_left = (elevator + aileron) * tailsitter.vectored_forward_gain; |
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float tilt_right = (elevator - aileron) * tailsitter.vectored_forward_gain; |
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SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left); |
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SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right); |
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} else { |
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SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, 0); |
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SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, 0); |
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} |
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return; |
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} |
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motors_output(); |
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plane.pitchController.reset_I(); |
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plane.rollController.reset_I(); |
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if (tailsitter.vectored_hover_gain > 0) { |
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// thrust vectoring VTOL modes |
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float aileron = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron); |
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float elevator = SRV_Channels::get_output_scaled(SRV_Channel::k_elevator); |
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float tilt_left = (elevator + aileron) * tailsitter.vectored_hover_gain; |
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float tilt_right = (elevator - aileron) * tailsitter.vectored_hover_gain; |
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SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left); |
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SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right); |
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} |
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if (tailsitter.input_mask_chan > 0 && |
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tailsitter.input_mask > 0 && |
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hal.rcin->read(tailsitter.input_mask_chan-1) > 1700) { |
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// the user is learning to prop-hang |
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if (tailsitter.input_mask & TAILSITTER_MASK_AILERON) { |
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SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.channel_roll->get_control_in_zero_dz()); |
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} |
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if (tailsitter.input_mask & TAILSITTER_MASK_ELEVATOR) { |
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SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.channel_pitch->get_control_in_zero_dz()); |
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} |
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if (tailsitter.input_mask & TAILSITTER_MASK_THROTTLE) { |
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SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.channel_throttle->get_control_in_zero_dz()); |
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} |
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if (tailsitter.input_mask & TAILSITTER_MASK_RUDDER) { |
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SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, plane.channel_rudder->get_control_in_zero_dz()); |
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} |
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} |
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} |
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/* |
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return true when we have completed enough of a transition to switch to fixed wing control |
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*/ |
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bool QuadPlane::tailsitter_transition_complete(void) |
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{ |
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if (plane.fly_inverted()) { |
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// transition immediately |
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return true; |
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} |
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if (labs(ahrs_view->pitch_sensor) > tailsitter.transition_angle*100 || |
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labs(ahrs_view->roll_sensor) > tailsitter.transition_angle*100 || |
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AP_HAL::millis() - transition_start_ms > 2000) { |
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return true; |
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} |
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// still waiting |
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return false; |
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} |
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// handle different tailsitter input types |
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void QuadPlane::tailsitter_check_input(void) |
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{ |
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if (tailsitter_active() && |
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tailsitter.input_type == TAILSITTER_INPUT_PLANE) { |
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// the user has asked for body frame controls when tailsitter |
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// is active. We switch around the control_in value for the |
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// channels to do this, as that ensures the value is |
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// consistent throughout the code |
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int16_t roll_in = plane.channel_roll->get_control_in(); |
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int16_t yaw_in = plane.channel_rudder->get_control_in(); |
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plane.channel_roll->set_control_in(yaw_in); |
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plane.channel_rudder->set_control_in(-roll_in); |
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} |
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}
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