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81 lines
2.6 KiB
81 lines
2.6 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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Rover Sailboat functionality |
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*/ |
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class Sailboat |
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{ |
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public: |
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// var_info for holding Parameter information |
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static const struct AP_Param::GroupInfo var_info[]; |
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// enabled |
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bool enabled() const { return enable != 0;} |
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// constructor |
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Sailboat(); |
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// setup |
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void init(); |
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// update mainsail's desired angle based on wind speed and direction and desired speed (in m/s) |
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void update_mainsail(float desired_speed); |
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// Velocity Made Good, this is the speed we are traveling towards the desired destination |
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float get_VMG() const; |
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// handle user initiated tack while in acro mode |
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void handle_tack_request_acro(); |
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// return target heading in radians when tacking (only used in acro) |
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float get_tack_heading_rad() const; |
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// handle user initiated tack while in autonomous modes (Auto, Guided, RTL, SmartRTL, etc) |
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void handle_tack_request_auto(); |
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// clear tacking state variables |
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void clear_tack(); |
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// returns true if boat is currently tacking |
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bool tacking() const; |
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// returns true if sailboat should take a indirect navigation route to go upwind |
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bool use_indirect_route(float desired_heading_cd) const; |
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// calculate the heading to sail on if we cant go upwind |
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float calc_heading(float desired_heading_cd); |
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private: |
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// parameters |
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AP_Int8 enable; |
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AP_Float sail_angle_min; |
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AP_Float sail_angle_max; |
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AP_Float sail_angle_ideal; |
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AP_Float sail_heel_angle_max; |
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AP_Float sail_no_go; |
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enum Sailboat_Tack { |
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TACK_PORT, |
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TACK_STARBOARD |
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}; |
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bool currently_tacking; // true when sailboat is in the process of tacking to a new heading |
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float tack_heading_rad; // target heading in radians while tacking in either acro or autonomous modes |
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uint32_t auto_tack_request_ms; // system time user requested tack in autonomous modes |
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uint32_t auto_tack_start_ms; // system time when tack was started in autonomous mode |
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};
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