tiltrotor.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 tiltrotor.h
*
* @author Roman Bapst <bapstroman@gmail.com>
*
*/
#ifndef TILTROTOR_H
#define TILTROTOR_H
#include "vtol_type.h"
#include <parameters/param.h>
#include <drivers/drv_hrt.h>
class Tiltrotor : public VtolType
{
public:
Tiltrotor(VtolAttitudeControl *_att_controller);
~Tiltrotor() override = default;
void update_vtol_state() override;
void update_transition_state() override;
void fill_actuator_outputs() override;
void update_mc_state() override;
void update_fw_state() override;
void waiting_on_tecs() override;
float thrust_compensation_for_tilt();
private:
struct {
float tilt_mc; /**< actuator value corresponding to mc tilt */
float tilt_transition; /**< actuator value corresponding to transition tilt (e.g 45 degrees) */
float tilt_fw; /**< actuator value corresponding to fw tilt */
float tilt_spinup; /**< actuator value corresponding to spinup tilt */
float front_trans_dur_p2;
} _params_tiltrotor;
struct {
param_t tilt_mc;
param_t tilt_transition;
param_t tilt_fw;
param_t tilt_spinup;
param_t front_trans_dur_p2;
} _params_handles_tiltrotor;
enum class vtol_mode {
MC_MODE = 0, /**< vtol is in multicopter mode */
TRANSITION_FRONT_P1, /**< vtol is in front transition part 1 mode */
TRANSITION_FRONT_P2, /**< vtol is in front transition part 2 mode */
TRANSITION_BACK, /**< vtol is in back transition mode */
FW_MODE /**< vtol is in fixed wing mode */
};
/**
* Specific to tiltrotor with vertical aligned rear engine/s.
* These engines need to be shut down in fw mode. During the back-transition
* they need to idle otherwise they need too much time to spin up for mc mode.
*/
struct {
vtol_mode flight_mode; /**< vtol flight mode, defined by enum vtol_mode */
hrt_abstime transition_start; /**< absoulte time at which front transition started */
} _vtol_schedule;
float _tilt_control{0.0f}; /**< actuator value for the tilt servo */
void parameters_update() override;
hrt_abstime _last_timestamp_disarmed{0}; /**< used for calculating time since arming */
bool _tilt_motors_for_startup{false};
};
#endif