#include <tailsitter.h>

Inheritance diagram for Tailsitter:

Collaboration diagram for Tailsitter:

Public Member Functions
	Tailsitter (VtolAttitudeControl *_att_controller)

	~Tailsitter () override=default

void	update_vtol_state () override
	Update vtol state. More...

void	update_transition_state () override
	Update transition state. More...

void	update_fw_state () override
	Update fixed wing state. More...

void	fill_actuator_outputs () override
	Write data to actuator output topic. More...

void	waiting_on_tecs () override
	Special handling opportunity for the time right after transition to FW before TECS is running. More...

Public Member Functions inherited from VtolType
	VtolType (VtolAttitudeControl *att_controller)

	VtolType (const VtolType &)=delete

VtolType &	operator= (const VtolType &)=delete

virtual	~VtolType ()=default

bool	init ()
	Initialise. More...

virtual void	update_mc_state ()
	Update multicopter state. More...

void	check_quadchute_condition ()
	Checks for fixed-wing failsafe condition and issues abort request if needed. More...

bool	can_transition_on_ground ()
	Returns true if we're allowed to do a mode transition on the ground. More...

mode	get_mode ()

Private Types
enum	vtol_mode { vtol_mode::MC_MODE = 0, vtol_mode::TRANSITION_FRONT_P1, vtol_mode::TRANSITION_BACK, vtol_mode::FW_MODE }

Private Member Functions
void	parameters_update () override

Private Attributes
struct {
float front_trans_dur_p2

float fw_pitch_sp_offset

}	_params_tailsitter

struct {
param_t front_trans_dur_p2

param_t fw_pitch_sp_offset

}	_params_handles_tailsitter

struct {
vtol_mode flight_mode
	vtol flight mode, defined by enum vtol_mode More...

hrt_abstime transition_start
	absoulte time at which front transition started More...

}	_vtol_schedule

matrix::Quatf	_q_trans_start

matrix::Quatf	_q_trans_sp

matrix::Vector3f	_trans_rot_axis

Additional Inherited Members
Protected Member Functions inherited from VtolType
bool	set_idle_mc ()
	Sets mc motor minimum pwm to VT_IDLE_PWM_MC which ensures that they are spinning in mc mode. More...

bool	set_idle_fw ()
	Sets mc motor minimum pwm to PWM_MIN which ensures that the motors stop spinning on zero throttle in fw mode. More...

motor_state	set_motor_state (const motor_state current_state, const motor_state next_state, const int value=0)
	Sets state of a selection of motors, see struct motor_state. More...

Protected Attributes inherited from VtolType
VtolAttitudeControl *	_attc

mode	_vtol_mode

struct vehicle_attitude_s *	_v_att

struct vehicle_attitude_setpoint_s *	_v_att_sp

struct vehicle_attitude_setpoint_s *	_mc_virtual_att_sp

struct vehicle_attitude_setpoint_s *	_fw_virtual_att_sp

struct vehicle_control_mode_s *	_v_control_mode

struct vtol_vehicle_status_s *	_vtol_vehicle_status

struct actuator_controls_s *	_actuators_out_0

struct actuator_controls_s *	_actuators_out_1

struct actuator_controls_s *	_actuators_mc_in

struct actuator_controls_s *	_actuators_fw_in

struct vehicle_local_position_s *	_local_pos

struct vehicle_local_position_setpoint_s *	_local_pos_sp

struct airspeed_validated_s *	_airspeed_validated

struct tecs_status_s *	_tecs_status

struct vehicle_land_detected_s *	_land_detected

struct Params *	_params

bool	flag_idle_mc = false

bool	_pusher_active = false

float	_mc_roll_weight = 1.0f

float	_mc_pitch_weight = 1.0f

float	_mc_yaw_weight = 1.0f

float	_mc_throttle_weight = 1.0f

float	_thrust_transition = 0.0f

float	_ra_hrate = 0.0f

float	_ra_hrate_sp = 0.0f

bool	_flag_was_in_trans_mode = false

hrt_abstime	_trans_finished_ts = 0

bool	_tecs_running = false

hrt_abstime	_tecs_running_ts = 0

motor_state	_motor_state = motor_state::DISABLED

Static Protected Attributes inherited from VtolType
static constexpr const int	num_outputs_max = 8

Detailed Description

Definition at line 51 of file tailsitter.h.

Member Enumeration Documentation

◆ vtol_mode

enum Tailsitter::vtol_mode

strongprivate

Enumerator
MC_MODE	vtol is in multicopter mode
TRANSITION_FRONT_P1	vtol is in front transition part 1 mode
TRANSITION_BACK	vtol is in back transition mode
FW_MODE	vtol is in fixed wing mode

Definition at line 76 of file tailsitter.h.

Constructor & Destructor Documentation

◆ Tailsitter()

Tailsitter::Tailsitter ( VtolAttitudeControl * _att_controller )

Definition at line 52 of file tailsitter.cpp.

References VtolType::_flag_was_in_trans_mode, VtolType::_mc_pitch_weight, VtolType::_mc_roll_weight, VtolType::_mc_yaw_weight, _params_handles_tailsitter, _vtol_schedule, MC_MODE, and param_find().

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◆ ~Tailsitter()

Tailsitter::~Tailsitter ( )

overridedefault

Member Function Documentation

◆ fill_actuator_outputs()

void Tailsitter::fill_actuator_outputs ( )

overridevirtual

Write data to actuator output topic.

Implements VtolType.

Definition at line 287 of file tailsitter.cpp.

References VtolType::_actuators_fw_in, VtolType::_actuators_mc_in, VtolType::_actuators_out_0, VtolType::_actuators_out_1, VtolType::_mc_pitch_weight, VtolType::_mc_roll_weight, VtolType::_mc_yaw_weight, VtolType::_params, _vtol_schedule, actuator_controls_s::control, Params::elevons_mc_lock, FW_MODE, hrt_absolute_time(), MC_MODE, actuator_controls_s::timestamp, and actuator_controls_s::timestamp_sample.

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◆ parameters_update()

void Tailsitter::parameters_update ( )

overrideprivatevirtual

Implements VtolType.

Definition at line 69 of file tailsitter.cpp.

References _params_handles_tailsitter, _params_tailsitter, param_get(), and math::radians().

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◆ update_fw_state()

void Tailsitter::update_fw_state ( )

overridevirtual

Update fixed wing state.

Reimplemented from VtolType.

Definition at line 273 of file tailsitter.cpp.

References VtolType::_mc_roll_weight, VtolType::_params, Params::diff_thrust, and VtolType::update_fw_state().

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◆ update_transition_state()

void Tailsitter::update_transition_state ( )

overridevirtual

Update transition state.

Implements VtolType.

Definition at line 189 of file tailsitter.cpp.

References VtolType::_flag_was_in_trans_mode, VtolType::_fw_virtual_att_sp, VtolType::_mc_pitch_weight, VtolType::_mc_roll_weight, VtolType::_mc_virtual_att_sp, VtolType::_mc_yaw_weight, VtolType::_params, _params_tailsitter, _q_trans_sp, _q_trans_start, _trans_rot_axis, VtolType::_v_att, VtolType::_v_att_sp, _vtol_schedule, Params::back_trans_duration, matrix::Matrix< Type, M, N >::copyTo(), matrix::Vector3< Type >::cross(), matrix::Quaternion< Type >::dcm_z(), f(), VtolType::flag_idle_mc, Params::front_trans_duration, hrt_absolute_time(), matrix::Euler< Type >::phi(), vehicle_attitude_setpoint_s::pitch_body, matrix::Euler< Type >::psi(), vehicle_attitude_s::q, vehicle_attitude_setpoint_s::q_d, vehicle_attitude_setpoint_s::q_d_valid, vehicle_attitude_setpoint_s::roll_body, VtolType::set_idle_mc(), matrix::Euler< Type >::theta(), vehicle_attitude_setpoint_s::thrust_body, vehicle_attitude_setpoint_s::timestamp, TRANSITION_BACK, TRANSITION_FRONT_P1, and vehicle_attitude_setpoint_s::yaw_body.

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◆ update_vtol_state()

void Tailsitter::update_vtol_state ( )

overridevirtual

Update vtol state.

Implements VtolType.

Definition at line 81 of file tailsitter.cpp.

References VtolType::_airspeed_validated, VtolType::_attc, VtolType::_flag_was_in_trans_mode, VtolType::_params, VtolType::_v_att, VtolType::_vtol_mode, _vtol_schedule, VtolType::_vtol_vehicle_status, Params::airspeed_disabled, Params::back_trans_duration, VtolType::can_transition_on_ground(), airspeed_validated_s::equivalent_airspeed_m_s, f(), FIXED_WING, FW_MODE, hrt_absolute_time(), VtolAttitudeControl::is_fixed_wing_requested(), MC_MODE, PITCH_TRANSITION_BACK, PITCH_TRANSITION_FRONT_P1, vehicle_attitude_s::q, ROTARY_WING, Params::transition_airspeed, TRANSITION_BACK, TRANSITION_FRONT_P1, TRANSITION_TO_FW, TRANSITION_TO_MC, and vtol_vehicle_status_s::vtol_in_trans_mode.

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◆ waiting_on_tecs()

void Tailsitter::waiting_on_tecs ( )

overridevirtual

Special handling opportunity for the time right after transition to FW before TECS is running.

Reimplemented from VtolType.

Definition at line 267 of file tailsitter.cpp.

References VtolType::_thrust_transition, VtolType::_v_att_sp, and vehicle_attitude_setpoint_s::thrust_body.

Member Data Documentation

◆ _params_handles_tailsitter

struct { ... } Tailsitter::_params_handles_tailsitter

Referenced by parameters_update(), and Tailsitter().

◆ _params_tailsitter

struct { ... } Tailsitter::_params_tailsitter

Referenced by parameters_update(), and update_transition_state().

◆ _q_trans_sp

matrix::Quatf Tailsitter::_q_trans_sp

private

Definition at line 89 of file tailsitter.h.

Referenced by update_transition_state().

◆ _q_trans_start

matrix::Quatf Tailsitter::_q_trans_start

private

Definition at line 88 of file tailsitter.h.

Referenced by update_transition_state().

◆ _trans_rot_axis

matrix::Vector3f Tailsitter::_trans_rot_axis

private

Definition at line 90 of file tailsitter.h.

Referenced by update_transition_state().

◆ _vtol_schedule

struct { ... } Tailsitter::_vtol_schedule

Referenced by fill_actuator_outputs(), Tailsitter(), update_transition_state(), and update_vtol_state().

◆ flight_mode

vtol_mode Tailsitter::flight_mode

vtol flight mode, defined by enum vtol_mode

Definition at line 84 of file tailsitter.h.

◆ front_trans_dur_p2 [1/2]

float Tailsitter::front_trans_dur_p2

Definition at line 67 of file tailsitter.h.

◆ front_trans_dur_p2 [2/2]

param_t Tailsitter::front_trans_dur_p2

Definition at line 72 of file tailsitter.h.

◆ fw_pitch_sp_offset [1/2]

float Tailsitter::fw_pitch_sp_offset

Definition at line 68 of file tailsitter.h.

◆ fw_pitch_sp_offset [2/2]

param_t Tailsitter::fw_pitch_sp_offset

Definition at line 73 of file tailsitter.h.

◆ transition_start

hrt_abstime Tailsitter::transition_start

absoulte time at which front transition started

Definition at line 85 of file tailsitter.h.

The documentation for this class was generated from the following files:

src/modules/vtol_att_control/tailsitter.h
src/modules/vtol_att_control/tailsitter.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ vtol_mode

Constructor & Destructor Documentation

◆ Tailsitter()

◆ ~Tailsitter()

Member Function Documentation

◆ fill_actuator_outputs()

◆ parameters_update()

◆ update_fw_state()

◆ update_transition_state()

◆ update_vtol_state()

◆ waiting_on_tecs()

Member Data Documentation

◆ _params_handles_tailsitter

◆ _params_tailsitter

◆ _q_trans_sp

◆ _q_trans_start

◆ _trans_rot_axis

◆ _vtol_schedule

◆ flight_mode

◆ front_trans_dur_p2 [1/2]

◆ front_trans_dur_p2 [2/2]

◆ fw_pitch_sp_offset [1/2]

◆ fw_pitch_sp_offset [2/2]

◆ transition_start