#include <vtol_type.h>

Inheritance diagram for VtolType:

Collaboration diagram for VtolType:

Classes
struct	_disarmed_pwm_values

struct	_max_mc_pwm_values

struct	_min_mc_pwm_values
	Stores the max pwm values given by the system. More...

Public Member Functions
	VtolType (VtolAttitudeControl *att_controller)

	VtolType (const VtolType &)=delete

VtolType &	operator= (const VtolType &)=delete

virtual	~VtolType ()=default

bool	init ()
	Initialise. More...

virtual void	update_vtol_state ()=0
	Update vtol state. More...

virtual void	update_transition_state ()=0
	Update transition state. More...

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

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

virtual void	fill_actuator_outputs ()=0
	Write control values to actuator output topics. More...

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

virtual void	parameters_update ()=0

Protected Member Functions
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
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
static constexpr const int	num_outputs_max = 8

Private Member Functions
bool	apply_pwm_limits (struct pwm_output_values &pwm_values, pwm_limit_type type)
	Adjust minimum/maximum pwm values for the output channels. More...

bool	is_channel_set (const int channel, const int target)
	Determines if channel is set in target. More...

Detailed Description

Definition at line 110 of file vtol_type.h.

Constructor & Destructor Documentation

◆ VtolType() [1/2]

VtolType::VtolType ( VtolAttitudeControl * att_controller )

Definition at line 50 of file vtol_type.cpp.

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◆ VtolType() [2/2]

VtolType::VtolType ( const VtolType & )

delete

◆ ~VtolType()

virtual VtolType::~VtolType ( )

virtualdefault

Member Function Documentation

◆ apply_pwm_limits()

bool VtolType::apply_pwm_limits	(	struct pwm_output_values &	pwm_values,
		pwm_limit_type	type
	)

private

Adjust minimum/maximum pwm values for the output channels.

Parameters

	pwm_output_values	Struct containing the limit values for each channel
[in]	type	Specifies if min or max limits are adjusted.

Returns: True on success.

Definition at line 282 of file vtol_type.cpp.

References fd, OK, PWM_OUTPUT0_DEVICE_PATH, PWM_SERVO_SET_MAX_PWM, PWM_SERVO_SET_MIN_PWM, px4_close(), px4_ioctl(), px4_open(), and TYPE_MINIMUM.

Referenced by set_idle_fw(), set_idle_mc(), and set_motor_state().

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◆ can_transition_on_ground()

bool VtolType::can_transition_on_ground ( )

Returns true if we're allowed to do a mode transition on the ground.

Definition at line 181 of file vtol_type.cpp.

References _land_detected, _v_control_mode, vehicle_control_mode_s::flag_armed, and vehicle_land_detected_s::landed.

Referenced by Tiltrotor::update_vtol_state(), Tailsitter::update_vtol_state(), and Standard::update_vtol_state().

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◆ check_quadchute_condition()

void VtolType::check_quadchute_condition ( )

Checks for fixed-wing failsafe condition and issues abort request if needed.

Definition at line 186 of file vtol_type.cpp.

References _attc, _land_detected, _local_pos, _local_pos_sp, _params, _ra_hrate, _ra_hrate_sp, _tecs_running, _tecs_status, _v_att, _v_control_mode, VtolAttitudeControl::abort_front_transition(), tecs_status_s::altitude_filtered, tecs_status_s::altitude_sp, f(), vehicle_control_mode_s::flag_armed, vehicle_control_mode_s::flag_control_altitude_enabled, FLT_EPSILON, Params::fw_alt_err, Params::fw_min_alt, Params::fw_qc_max_pitch, Params::fw_qc_max_roll, tecs_status_s::height_rate, tecs_status_s::height_rate_setpoint, vehicle_land_detected_s::landed, matrix::Euler< Type >::phi(), vehicle_attitude_s::q, math::radians(), matrix::Euler< Type >::theta(), vehicle_local_position_s::v_z_valid, vehicle_local_position_s::vz, vehicle_local_position_setpoint_s::z, vehicle_local_position_s::z, vehicle_local_position_s::z_deriv, and vehicle_local_position_s::z_valid.

Referenced by update_fw_state(), and update_transition_state().

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◆ fill_actuator_outputs()

virtual void VtolType::fill_actuator_outputs ( )

pure virtual

Write control values to actuator output topics.

Implemented in Standard, Tailsitter, and Tiltrotor.

Referenced by VtolAttitudeControl::Run().

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◆ get_mode()

mode VtolType::get_mode ( )

inline

Definition at line 168 of file vtol_type.h.

References mpu9x50::parameters_update().

Referenced by VtolAttitudeControl::Run().

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◆ init()

bool VtolType::init ( )

Initialise.

Definition at line 80 of file vtol_type.cpp.

References fd, PWM_OUTPUT0_DEVICE_PATH, PWM_SERVO_GET_DISARMED_PWM, PWM_SERVO_GET_MAX_PWM, PWM_SERVO_GET_MIN_PWM, px4_close(), px4_ioctl(), and px4_open().

Referenced by VtolAttitudeControl::Run().

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◆ is_channel_set()

bool VtolType::is_channel_set	(	const int	channel,
		const int	target
	)

private

Determines if channel is set in target.

Parameters

[in]	channel	The channel
[in]	target	The target to check on.

Returns: True if motor off channel, False otherwise.

Definition at line 363 of file vtol_type.cpp.

References num_outputs_max.

Referenced by set_idle_fw(), set_idle_mc(), and set_motor_state().

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◆ operator=()

VtolType& VtolType::operator= ( const VtolType & )

delete

◆ parameters_update()

virtual void VtolType::parameters_update ( )

pure virtual

Implemented in Standard, Tiltrotor, and Tailsitter.

Referenced by VtolAttitudeControl::parameters_update().

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◆ set_idle_fw()

bool VtolType::set_idle_fw ( )

protected

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

Returns: true on success

Definition at line 264 of file vtol_type.cpp.

References _params, apply_pwm_limits(), pwm_output_values::channel_count, is_channel_set(), num_outputs_max, PWM_MOTOR_OFF, TYPE_MINIMUM, pwm_output_values::values, and Params::vtol_motor_id.

Referenced by update_fw_state().

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◆ set_idle_mc()

bool VtolType::set_idle_mc ( )

protected

Sets mc motor minimum pwm to VT_IDLE_PWM_MC which ensures that they are spinning in mc mode.

Returns: true on success

Definition at line 245 of file vtol_type.cpp.

References _params, apply_pwm_limits(), pwm_output_values::channel_count, Params::idle_pwm_mc, is_channel_set(), num_outputs_max, TYPE_MINIMUM, pwm_output_values::values, and Params::vtol_motor_id.

Referenced by update_mc_state(), Tiltrotor::update_transition_state(), and Tailsitter::update_transition_state().

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◆ set_motor_state()

motor_state VtolType::set_motor_state	(	const motor_state	current_state,
		const motor_state	next_state,
		const int	value = `0`
	)

protected

Sets state of a selection of motors, see struct motor_state.

Parameters

[in]	current_state	The current motor state
[in]	next_state	The next state
[in]	value	Desired pwm value if next_state = motor_state::VALUE

Returns: next_state if succesfull, otherwise current_state

Definition at line 312 of file vtol_type.cpp.

References _params, apply_pwm_limits(), pwm_output_values::channel_count, DISABLED, ENABLED, Params::fw_motors_off, IDLE, Params::idle_pwm_mc, is_channel_set(), num_outputs_max, TYPE_MAXIMUM, VALUE, pwm_output_values::values, and Params::vtol_motor_id.

Referenced by update_fw_state(), update_mc_state(), Tiltrotor::update_transition_state(), and Standard::update_transition_state().

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◆ update_fw_state()

void VtolType::update_fw_state ( )

virtual

Update fixed wing state.

Reimplemented in Standard, Tailsitter, and Tiltrotor.

Definition at line 140 of file vtol_type.cpp.

References _fw_virtual_att_sp, _mc_pitch_weight, _mc_roll_weight, _mc_yaw_weight, _motor_state, _tecs_running, _tecs_running_ts, _tecs_status, _trans_finished_ts, _v_att_sp, _v_control_mode, check_quadchute_condition(), DISABLED, vehicle_control_mode_s::flag_control_altitude_enabled, flag_idle_mc, hrt_absolute_time(), set_idle_fw(), set_motor_state(), vehicle_attitude_setpoint_s::timestamp, tecs_status_s::timestamp, and waiting_on_tecs().

Referenced by VtolAttitudeControl::Run(), Tiltrotor::update_fw_state(), Tailsitter::update_fw_state(), and Standard::update_fw_state().

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◆ update_mc_state()

void VtolType::update_mc_state ( )

virtual

Update multicopter state.

Reimplemented in Standard, and Tiltrotor.

Definition at line 121 of file vtol_type.cpp.

References _mc_pitch_weight, _mc_roll_weight, _mc_throttle_weight, _mc_virtual_att_sp, _mc_yaw_weight, _motor_state, _v_att_sp, ENABLED, flag_idle_mc, set_idle_mc(), and set_motor_state().

Referenced by VtolAttitudeControl::Run(), Tiltrotor::update_mc_state(), and Standard::update_mc_state().

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◆ update_transition_state()

void VtolType::update_transition_state ( )

pure virtual

Update transition state.

Implemented in Standard, Tailsitter, and Tiltrotor.

Definition at line 176 of file vtol_type.cpp.

References check_quadchute_condition().

Referenced by VtolAttitudeControl::Run(), Tiltrotor::update_transition_state(), and Standard::update_transition_state().

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◆ update_vtol_state()

virtual void VtolType::update_vtol_state ( )

pure virtual

Update vtol state.

Implemented in Standard, Tailsitter, and Tiltrotor.

Referenced by VtolAttitudeControl::Run().

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◆ waiting_on_tecs()

virtual void VtolType::waiting_on_tecs ( )

inlinevirtual

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

Reimplemented in Standard, Tailsitter, and Tiltrotor.

Definition at line 154 of file vtol_type.h.

Referenced by update_fw_state().

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Member Data Documentation

◆ _actuators_fw_in

struct actuator_controls_s* VtolType::_actuators_fw_in

protected

Definition at line 187 of file vtol_type.h.

Referenced by Tiltrotor::fill_actuator_outputs(), Tailsitter::fill_actuator_outputs(), Standard::fill_actuator_outputs(), and VtolType().

◆ _actuators_mc_in

struct actuator_controls_s* VtolType::_actuators_mc_in

protected

Definition at line 186 of file vtol_type.h.

Referenced by Tiltrotor::fill_actuator_outputs(), Tailsitter::fill_actuator_outputs(), Standard::fill_actuator_outputs(), and VtolType().

◆ _actuators_out_0

struct actuator_controls_s* VtolType::_actuators_out_0

protected

Definition at line 184 of file vtol_type.h.

Referenced by Tiltrotor::fill_actuator_outputs(), Tailsitter::fill_actuator_outputs(), Standard::fill_actuator_outputs(), and VtolType().

◆ _actuators_out_1

struct actuator_controls_s* VtolType::_actuators_out_1

protected

Definition at line 185 of file vtol_type.h.

Referenced by Tiltrotor::fill_actuator_outputs(), Tailsitter::fill_actuator_outputs(), Standard::fill_actuator_outputs(), and VtolType().

◆ _airspeed_validated

struct airspeed_validated_s* VtolType::_airspeed_validated

protected

Definition at line 190 of file vtol_type.h.

Referenced by Tiltrotor::update_transition_state(), Standard::update_transition_state(), Tiltrotor::update_vtol_state(), Tailsitter::update_vtol_state(), Standard::update_vtol_state(), and VtolType().

◆ _attc

VtolAttitudeControl* VtolType::_attc

protected

Definition at line 173 of file vtol_type.h.

Referenced by check_quadchute_condition(), Standard::update_mc_state(), Standard::update_transition_state(), Tiltrotor::update_vtol_state(), Tailsitter::update_vtol_state(), Standard::update_vtol_state(), and VtolType().

◆ _flag_was_in_trans_mode

bool VtolType::_flag_was_in_trans_mode = false

protected

Definition at line 210 of file vtol_type.h.

Referenced by Tailsitter::Tailsitter(), Tiltrotor::Tiltrotor(), Tiltrotor::update_transition_state(), Tailsitter::update_transition_state(), and Tailsitter::update_vtol_state().

◆ _fw_virtual_att_sp

struct vehicle_attitude_setpoint_s* VtolType::_fw_virtual_att_sp

protected

Definition at line 181 of file vtol_type.h.

Referenced by update_fw_state(), Tailsitter::update_transition_state(), and VtolType().

◆ _land_detected

struct vehicle_land_detected_s* VtolType::_land_detected

protected

Definition at line 192 of file vtol_type.h.

Referenced by can_transition_on_ground(), check_quadchute_condition(), and VtolType().

◆ _local_pos

struct vehicle_local_position_s* VtolType::_local_pos

protected

Definition at line 188 of file vtol_type.h.

Referenced by check_quadchute_condition(), Standard::update_vtol_state(), and VtolType().

◆ _local_pos_sp

struct vehicle_local_position_setpoint_s* VtolType::_local_pos_sp

protected

Definition at line 189 of file vtol_type.h.

Referenced by check_quadchute_condition(), and VtolType().

◆ _mc_pitch_weight

float VtolType::_mc_pitch_weight = 1.0f

protected

Definition at line 200 of file vtol_type.h.

Referenced by Tiltrotor::fill_actuator_outputs(), Tailsitter::fill_actuator_outputs(), Standard::fill_actuator_outputs(), Standard::Standard(), Tailsitter::Tailsitter(), Tiltrotor::Tiltrotor(), update_fw_state(), update_mc_state(), Tiltrotor::update_transition_state(), Tailsitter::update_transition_state(), Standard::update_transition_state(), and Standard::update_vtol_state().

◆ _mc_roll_weight

float VtolType::_mc_roll_weight = 1.0f

protected

Definition at line 199 of file vtol_type.h.

Referenced by Tiltrotor::fill_actuator_outputs(), Tailsitter::fill_actuator_outputs(), Standard::fill_actuator_outputs(), Standard::Standard(), Tailsitter::Tailsitter(), Tiltrotor::Tiltrotor(), Tailsitter::update_fw_state(), update_fw_state(), update_mc_state(), Tiltrotor::update_transition_state(), Tailsitter::update_transition_state(), Standard::update_transition_state(), and Standard::update_vtol_state().

◆ _mc_throttle_weight

float VtolType::_mc_throttle_weight = 1.0f

protected

Definition at line 202 of file vtol_type.h.

Referenced by Tiltrotor::fill_actuator_outputs(), Standard::fill_actuator_outputs(), Standard::Standard(), update_mc_state(), Tiltrotor::update_transition_state(), Standard::update_transition_state(), and Standard::update_vtol_state().

◆ _mc_virtual_att_sp

struct vehicle_attitude_setpoint_s* VtolType::_mc_virtual_att_sp

protected

Definition at line 180 of file vtol_type.h.

Referenced by update_mc_state(), Tiltrotor::update_transition_state(), Tailsitter::update_transition_state(), Standard::update_transition_state(), and VtolType().

◆ _mc_yaw_weight

float VtolType::_mc_yaw_weight = 1.0f

protected

Definition at line 201 of file vtol_type.h.

Referenced by Tiltrotor::fill_actuator_outputs(), Tailsitter::fill_actuator_outputs(), Standard::fill_actuator_outputs(), Standard::Standard(), Tailsitter::Tailsitter(), Tiltrotor::Tiltrotor(), update_fw_state(), update_mc_state(), Tiltrotor::update_transition_state(), Tailsitter::update_transition_state(), Standard::update_transition_state(), and Standard::update_vtol_state().

◆ _motor_state

motor_state VtolType::_motor_state = motor_state::DISABLED

protected

Definition at line 217 of file vtol_type.h.

Referenced by update_fw_state(), update_mc_state(), Tiltrotor::update_transition_state(), and Standard::update_transition_state().

◆ _params

struct Params* VtolType::_params

protected

Definition at line 194 of file vtol_type.h.

Referenced by check_quadchute_condition(), Tiltrotor::fill_actuator_outputs(), Tailsitter::fill_actuator_outputs(), Standard::fill_actuator_outputs(), Standard::parameters_update(), set_idle_fw(), set_idle_mc(), set_motor_state(), Tailsitter::update_fw_state(), Tiltrotor::update_transition_state(), Tailsitter::update_transition_state(), Standard::update_transition_state(), Tiltrotor::update_vtol_state(), Tailsitter::update_vtol_state(), Standard::update_vtol_state(), and VtolType().

◆ _pusher_active

bool VtolType::_pusher_active = false

protected

Definition at line 198 of file vtol_type.h.

Referenced by Standard::Standard().

◆ _ra_hrate

float VtolType::_ra_hrate = 0.0f

protected

Definition at line 207 of file vtol_type.h.

Referenced by check_quadchute_condition().

◆ _ra_hrate_sp

float VtolType::_ra_hrate_sp = 0.0f

protected

Definition at line 208 of file vtol_type.h.

Referenced by check_quadchute_condition().

◆ _tecs_running

bool VtolType::_tecs_running = false

protected

Definition at line 214 of file vtol_type.h.

Referenced by check_quadchute_condition(), and update_fw_state().

◆ _tecs_running_ts

hrt_abstime VtolType::_tecs_running_ts = 0

protected

Definition at line 215 of file vtol_type.h.

Referenced by update_fw_state().

◆ _tecs_status

struct tecs_status_s* VtolType::_tecs_status

protected

Definition at line 191 of file vtol_type.h.

Referenced by check_quadchute_condition(), update_fw_state(), and VtolType().

◆ _thrust_transition

float VtolType::_thrust_transition = 0.0f

protected

Definition at line 205 of file vtol_type.h.

Referenced by Tiltrotor::update_transition_state(), Tiltrotor::waiting_on_tecs(), and Tailsitter::waiting_on_tecs().

◆ _trans_finished_ts

hrt_abstime VtolType::_trans_finished_ts = 0

protected

Definition at line 212 of file vtol_type.h.

Referenced by update_fw_state(), and Standard::update_vtol_state().

◆ _v_att

struct vehicle_attitude_s* VtolType::_v_att

protected

Definition at line 178 of file vtol_type.h.

Referenced by check_quadchute_condition(), Standard::update_mc_state(), Tailsitter::update_transition_state(), Tailsitter::update_vtol_state(), Standard::update_vtol_state(), and VtolType().

◆ _v_att_sp

struct vehicle_attitude_setpoint_s* VtolType::_v_att_sp

protected

Definition at line 179 of file vtol_type.h.

Referenced by update_fw_state(), Standard::update_mc_state(), update_mc_state(), Tiltrotor::update_transition_state(), Tailsitter::update_transition_state(), Standard::update_transition_state(), VtolType(), Tiltrotor::waiting_on_tecs(), Tailsitter::waiting_on_tecs(), and Standard::waiting_on_tecs().

◆ _v_control_mode

struct vehicle_control_mode_s* VtolType::_v_control_mode

protected

Definition at line 182 of file vtol_type.h.

Referenced by can_transition_on_ground(), check_quadchute_condition(), update_fw_state(), Standard::update_mc_state(), and VtolType().

◆ _vtol_mode

mode VtolType::_vtol_mode

protected

Definition at line 174 of file vtol_type.h.

Referenced by Tiltrotor::update_vtol_state(), Tailsitter::update_vtol_state(), and Standard::update_vtol_state().

◆ _vtol_vehicle_status

struct vtol_vehicle_status_s* VtolType::_vtol_vehicle_status

protected

Definition at line 183 of file vtol_type.h.

Referenced by Tailsitter::update_vtol_state(), Standard::update_vtol_state(), and VtolType().

◆ flag_idle_mc

bool VtolType::flag_idle_mc = false

protected

Definition at line 196 of file vtol_type.h.

Referenced by update_fw_state(), update_mc_state(), Tiltrotor::update_transition_state(), and Tailsitter::update_transition_state().

◆ num_outputs_max

constexpr const int VtolType::num_outputs_max = 8

staticprotected

Definition at line 176 of file vtol_type.h.

Referenced by is_channel_set(), set_idle_fw(), set_idle_mc(), and set_motor_state().

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

src/modules/vtol_att_control/vtol_type.h
src/modules/vtol_att_control/vtol_type.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ VtolType() [1/2]

◆ VtolType() [2/2]

◆ ~VtolType()

Member Function Documentation

◆ apply_pwm_limits()

◆ can_transition_on_ground()

◆ check_quadchute_condition()

◆ fill_actuator_outputs()

◆ get_mode()

◆ init()

◆ is_channel_set()

◆ operator=()

◆ parameters_update()

◆ set_idle_fw()

◆ set_idle_mc()

◆ set_motor_state()

◆ update_fw_state()

◆ update_mc_state()

◆ update_transition_state()

◆ update_vtol_state()

◆ waiting_on_tecs()

Member Data Documentation

◆ _actuators_fw_in

◆ _actuators_mc_in

◆ _actuators_out_0

◆ _actuators_out_1

◆ _airspeed_validated

◆ _attc

◆ _flag_was_in_trans_mode

◆ _fw_virtual_att_sp

◆ _land_detected

◆ _local_pos

◆ _local_pos_sp

◆ _mc_pitch_weight

◆ _mc_roll_weight

◆ _mc_throttle_weight

◆ _mc_virtual_att_sp

◆ _mc_yaw_weight

◆ _motor_state

◆ _params

◆ _pusher_active

◆ _ra_hrate

◆ _ra_hrate_sp

◆ _tecs_running

◆ _tecs_running_ts

◆ _tecs_status

◆ _thrust_transition

◆ _trans_finished_ts

◆ _v_att

◆ _v_att_sp

◆ _v_control_mode

◆ _vtol_mode

◆ _vtol_vehicle_status

◆ flag_idle_mc

◆ num_outputs_max