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117 lines
3.2 KiB
117 lines
3.2 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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#pragma once |
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#include <AP_Param/AP_Param.h> |
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#include "transition.h" |
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class QuadPlane; |
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class AP_MotorsMulticopter; |
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class Tiltrotor_Transition; |
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class Tiltrotor |
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{ |
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friend class QuadPlane; |
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friend class Plane; |
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friend class Tiltrotor_Transition; |
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public: |
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Tiltrotor(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors); |
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bool enabled() const { return (enable > 0) && setup_complete;} |
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void setup(); |
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void slew(float tilt); |
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void binary_slew(bool forward); |
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void update(); |
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void continuous_update(); |
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void binary_update(); |
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void vectoring(); |
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void bicopter_output(); |
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void tilt_compensate_angle(float *thrust, uint8_t num_motors, float non_tilted_mul, float tilted_mul); |
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void tilt_compensate(float *thrust, uint8_t num_motors); |
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bool is_motor_tilting(uint8_t motor) const { |
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return (((uint8_t)tilt_mask.get()) & (1U<<motor)); |
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} |
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bool fully_fwd() const; |
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float tilt_max_change(bool up, bool in_flap_range = false) const; |
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float get_fully_forward_tilt() const; |
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float get_forward_flight_tilt() const; |
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// update yaw target for tiltrotor transition |
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void update_yaw_target(); |
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bool is_vectored() const { return enabled() && _is_vectored; } |
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bool motors_active() const { return enabled() && _motors_active; } |
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AP_Int8 enable; |
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AP_Int16 tilt_mask; |
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AP_Int16 max_rate_up_dps; |
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AP_Int16 max_rate_down_dps; |
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AP_Int8 max_angle_deg; |
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AP_Int8 type; |
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AP_Float tilt_yaw_angle; |
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AP_Float fixed_angle; |
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AP_Float fixed_gain; |
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AP_Float flap_angle_deg; |
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float current_tilt; |
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float current_throttle; |
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bool _motors_active:1; |
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float transition_yaw_cd; |
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uint32_t transition_yaw_set_ms; |
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bool _is_vectored; |
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// types of tilt mechanisms |
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enum {TILT_TYPE_CONTINUOUS =0, |
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TILT_TYPE_BINARY =1, |
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TILT_TYPE_VECTORED_YAW =2, |
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TILT_TYPE_BICOPTER =3 |
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}; |
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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bool setup_complete; |
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// refences for convenience |
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QuadPlane& quadplane; |
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AP_MotorsMulticopter*& motors; |
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Tiltrotor_Transition* transition; |
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}; |
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// Transition for separate left thrust quadplanes |
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class Tiltrotor_Transition : public SLT_Transition |
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{ |
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friend class Tiltrotor; |
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public: |
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Tiltrotor_Transition(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors, Tiltrotor& _tiltrotor):SLT_Transition(_quadplane, _motors), tiltrotor(_tiltrotor) {}; |
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bool update_yaw_target(float& yaw_target_cd) override; |
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bool show_vtol_view() const override; |
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private: |
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Tiltrotor& tiltrotor; |
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};
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