standard.h
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/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file standard.h
* VTOL with fixed multirotor motor configurations (such as quad) and a pusher
* (or puller aka tractor) motor for forward flight.
*
* @author Simon Wilks <simon@uaventure.com>
* @author Roman Bapst <bapstroman@gmail.com>
* @author Andreas Antener <andreas@uaventure.com>
* @author Sander Smeets <sander@droneslab.com>
*
*/
#ifndef STANDARD_H
#define STANDARD_H
#include "vtol_type.h"
#include <parameters/param.h>
#include <drivers/drv_hrt.h>
class Standard : public VtolType
{
public:
Standard(VtolAttitudeControl *_att_controller);
~Standard() override = default;
void update_vtol_state() override;
void update_transition_state() override;
void update_fw_state() override;
void update_mc_state() override;
void fill_actuator_outputs() override;
void waiting_on_tecs() override;
private:
struct {
float pusher_ramp_dt;
float back_trans_ramp;
float pitch_setpoint_offset;
float reverse_output;
float reverse_delay;
} _params_standard;
struct {
param_t pusher_ramp_dt;
param_t back_trans_ramp;
param_t pitch_setpoint_offset;
param_t reverse_output;
param_t reverse_delay;
} _params_handles_standard;
enum class vtol_mode {
MC_MODE = 0,
TRANSITION_TO_FW,
TRANSITION_TO_MC,
FW_MODE
};
struct {
vtol_mode flight_mode; // indicates in which mode the vehicle is in
hrt_abstime transition_start; // at what time did we start a transition (front- or backtransition)
} _vtol_schedule;
float _pusher_throttle{0.0f};
float _reverse_output{0.0f};
float _airspeed_trans_blend_margin{0.0f};
void parameters_update() override;
};
#endif