#include <tiltrotor.h>

Inheritance diagram for Tiltrotor:

Collaboration diagram for Tiltrotor:

Public Member Functions
	Tiltrotor (VtolAttitudeControl *_att_controller)

	~Tiltrotor () override=default

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

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

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

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

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

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_FRONT_P2, vtol_mode::TRANSITION_BACK, vtol_mode::FW_MODE }

Private Member Functions
void	parameters_update () override

Private Attributes
struct {
float tilt_mc
	actuator value corresponding to mc tilt More...

float tilt_transition
	actuator value corresponding to transition tilt (e.g 45 degrees) More...

float tilt_fw
	actuator value corresponding to fw tilt More...

float front_trans_dur_p2

}	_params_tiltrotor

struct {
param_t tilt_mc

param_t tilt_transition

param_t tilt_fw

param_t front_trans_dur_p2

}	_params_handles_tiltrotor

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
	Specific to tiltrotor with vertical aligned rear engine/s. More...

float	_tilt_control {0.0f}
	actuator value for the tilt servo More...

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 47 of file tiltrotor.h.

Member Enumeration Documentation

◆ vtol_mode

enum Tiltrotor::vtol_mode

strongprivate

Enumerator
MC_MODE	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

Definition at line 78 of file tiltrotor.h.

Constructor & Destructor Documentation

◆ Tiltrotor()

Tiltrotor::Tiltrotor ( VtolAttitudeControl * _att_controller )

Definition at line 47 of file tiltrotor.cpp.

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

Here is the call graph for this function:

◆ ~Tiltrotor()

Tiltrotor::~Tiltrotor ( )

overridedefault

Member Function Documentation

◆ fill_actuator_outputs()

void Tiltrotor::fill_actuator_outputs ( )

overridevirtual

Write data to actuator output topic.

Implements VtolType.

Definition at line 342 of file tiltrotor.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_throttle_weight, VtolType::_mc_yaw_weight, VtolType::_params, _tilt_control, _vtol_schedule, actuator_controls_s::control, Params::diff_thrust, Params::diff_thrust_scale, Params::elevons_mc_lock, FW_MODE, hrt_absolute_time(), MC_MODE, actuator_controls_s::timestamp, and actuator_controls_s::timestamp_sample.

Here is the call graph for this function:

◆ parameters_update()

void Tiltrotor::parameters_update ( )

overrideprivatevirtual

Implements VtolType.

Definition at line 66 of file tiltrotor.cpp.

References _params_handles_tiltrotor, _params_tiltrotor, and param_get().

Here is the call graph for this function:

◆ update_fw_state()

void Tiltrotor::update_fw_state ( )

overridevirtual

Update fixed wing state.

Reimplemented from VtolType.

Definition at line 214 of file tiltrotor.cpp.

References _params_tiltrotor, _tilt_control, and VtolType::update_fw_state().

Here is the call graph for this function:

◆ update_mc_state()

void Tiltrotor::update_mc_state ( )

overridevirtual

Update multicopter state.

Reimplemented from VtolType.

Definition at line 206 of file tiltrotor.cpp.

References _params_tiltrotor, _tilt_control, and VtolType::update_mc_state().

Here is the call graph for this function:

◆ update_transition_state()

void Tiltrotor::update_transition_state ( )

overridevirtual

Update transition state.

Implements VtolType.

Definition at line 222 of file tiltrotor.cpp.

References VtolType::_airspeed_validated, VtolType::_flag_was_in_trans_mode, VtolType::_mc_pitch_weight, VtolType::_mc_roll_weight, VtolType::_mc_throttle_weight, VtolType::_mc_virtual_att_sp, VtolType::_mc_yaw_weight, VtolType::_motor_state, VtolType::_params, _params_tiltrotor, VtolType::_thrust_transition, _tilt_control, VtolType::_v_att_sp, _vtol_schedule, Params::airspeed_blend, Params::airspeed_disabled, ARSP_YAW_CTRL_DISABLE, math::constrain(), ENABLED, airspeed_validated_s::equivalent_airspeed_m_s, f(), VtolType::flag_idle_mc, Params::front_trans_duration, Params::front_trans_time_min, Params::front_trans_time_openloop, hrt_absolute_time(), PWM_DEFAULT_MAX, PWM_DEFAULT_MIN, VtolType::set_idle_mc(), VtolType::set_motor_state(), vehicle_attitude_setpoint_s::thrust_body, Params::transition_airspeed, TRANSITION_BACK, TRANSITION_FRONT_P1, TRANSITION_FRONT_P2, VtolType::update_transition_state(), and VALUE.

Here is the call graph for this function:

◆ update_vtol_state()

void Tiltrotor::update_vtol_state ( )

overridevirtual

Update vtol state.

Implements VtolType.

Definition at line 87 of file tiltrotor.cpp.

References VtolType::_airspeed_validated, VtolType::_attc, VtolType::_params, _params_tiltrotor, _tilt_control, VtolType::_vtol_mode, _vtol_schedule, Params::airspeed_disabled, Params::back_trans_duration, VtolType::can_transition_on_ground(), airspeed_validated_s::equivalent_airspeed_m_s, f(), FIXED_WING, Params::front_trans_time_min, Params::front_trans_time_openloop, FW_MODE, hrt_absolute_time(), VtolAttitudeControl::is_fixed_wing_requested(), MC_MODE, ROTARY_WING, Params::transition_airspeed, TRANSITION_BACK, TRANSITION_FRONT_P1, TRANSITION_FRONT_P2, TRANSITION_TO_FW, and TRANSITION_TO_MC.

Here is the call graph for this function:

◆ waiting_on_tecs()

void Tiltrotor::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 333 of file tiltrotor.cpp.

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

Member Data Documentation

◆ _params_handles_tiltrotor

struct { ... } Tiltrotor::_params_handles_tiltrotor

Referenced by parameters_update(), and Tiltrotor().

◆ _params_tiltrotor

struct { ... } Tiltrotor::_params_tiltrotor

Referenced by parameters_update(), update_fw_state(), update_mc_state(), update_transition_state(), and update_vtol_state().

◆ _tilt_control

float Tiltrotor::_tilt_control {0.0f}

private

actuator value for the tilt servo

Definition at line 98 of file tiltrotor.h.

Referenced by fill_actuator_outputs(), update_fw_state(), update_mc_state(), update_transition_state(), and update_vtol_state().

◆ _vtol_schedule

struct { ... } Tiltrotor::_vtol_schedule

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.

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

◆ flight_mode

vtol_mode Tiltrotor::flight_mode

vtol flight mode, defined by enum vtol_mode

Definition at line 94 of file tiltrotor.h.

◆ front_trans_dur_p2 [1/2]

float Tiltrotor::front_trans_dur_p2

Definition at line 68 of file tiltrotor.h.

◆ front_trans_dur_p2 [2/2]

param_t Tiltrotor::front_trans_dur_p2

Definition at line 75 of file tiltrotor.h.

◆ tilt_fw [1/2]

float Tiltrotor::tilt_fw

actuator value corresponding to fw tilt

Definition at line 67 of file tiltrotor.h.

◆ tilt_fw [2/2]

param_t Tiltrotor::tilt_fw

Definition at line 74 of file tiltrotor.h.

◆ tilt_mc [1/2]

float Tiltrotor::tilt_mc

actuator value corresponding to mc tilt

Definition at line 65 of file tiltrotor.h.

◆ tilt_mc [2/2]

param_t Tiltrotor::tilt_mc

Definition at line 72 of file tiltrotor.h.

◆ tilt_transition [1/2]

float Tiltrotor::tilt_transition

actuator value corresponding to transition tilt (e.g 45 degrees)

Definition at line 66 of file tiltrotor.h.

◆ tilt_transition [2/2]

param_t Tiltrotor::tilt_transition

Definition at line 73 of file tiltrotor.h.

◆ transition_start

hrt_abstime Tiltrotor::transition_start

absoulte time at which front transition started

Definition at line 95 of file tiltrotor.h.

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

src/modules/vtol_att_control/tiltrotor.h
src/modules/vtol_att_control/tiltrotor.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ vtol_mode

Constructor & Destructor Documentation

◆ Tiltrotor()

◆ ~Tiltrotor()

Member Function Documentation

◆ fill_actuator_outputs()

◆ parameters_update()

◆ update_fw_state()

◆ update_mc_state()

◆ update_transition_state()

◆ update_vtol_state()

◆ waiting_on_tecs()

Member Data Documentation

◆ _params_handles_tiltrotor

◆ _params_tiltrotor

◆ _tilt_control

◆ _vtol_schedule

◆ flight_mode

◆ front_trans_dur_p2 [1/2]

◆ front_trans_dur_p2 [2/2]

◆ tilt_fw [1/2]

◆ tilt_fw [2/2]

◆ tilt_mc [1/2]

◆ tilt_mc [2/2]

◆ tilt_transition [1/2]

◆ tilt_transition [2/2]

◆ transition_start