tailsitter.h

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/**
* @file tailsitter.h
*
* @author Roman Bapst       <bapstroman@gmail.com>
* @author David Vorsin     <davidvorsin@gmail.com>
*
*/

#ifndef TAILSITTER_H
#define TAILSITTER_H

#include "vtol_type.h"

#include <parameters/param.h>
#include <drivers/drv_hrt.h>
#include <matrix/matrix/math.hpp>

class Tailsitter : public VtolType
{

public:
    Tailsitter(VtolAttitudeControl *_att_controller);
    ~Tailsitter() override = default;

    void update_vtol_state() override;
    void update_transition_state() override;
    void update_fw_state() override;
    void fill_actuator_outputs() override;
    void waiting_on_tecs() override;

private:

    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{};

    enum class vtol_mode {
        MC_MODE = 0,            /**< 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 */
    };

    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;

    matrix::Quatf _q_trans_start;
    matrix::Quatf _q_trans_sp;
    matrix::Vector3f _trans_rot_axis;

    void parameters_update() override;

};
#endif