#include <standard.h>

Inheritance diagram for Standard:

Collaboration diagram for Standard:

Public Member Functions
	Standard (VtolAttitudeControl *_att_controller)

	~Standard () 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	update_mc_state () override
	Update multicopter state. More...

void	fill_actuator_outputs () override
	Prepare message to acutators with data from mc and fw attitude controllers. 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_TO_FW, vtol_mode::TRANSITION_TO_MC, vtol_mode::FW_MODE }

Private Member Functions
void	parameters_update () override

Private Attributes
struct {
float pusher_ramp_dt

float back_trans_ramp

float down_pitch_max

float forward_thrust_scale

float pitch_setpoint_offset

float reverse_output

float reverse_delay

}	_params_standard

struct {
param_t pusher_ramp_dt

param_t back_trans_ramp

param_t down_pitch_max

param_t forward_thrust_scale

param_t pitch_setpoint_offset

param_t reverse_output

param_t reverse_delay

}	_params_handles_standard

struct {
vtol_mode flight_mode

hrt_abstime transition_start

}	_vtol_schedule

float	_pusher_throttle {0.0f}

float	_reverse_output {0.0f}

float	_airspeed_trans_blend_margin {0.0f}

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 52 of file standard.h.

Member Enumeration Documentation

◆ vtol_mode

enum Standard::vtol_mode

strongprivate

Enumerator
MC_MODE
TRANSITION_TO_FW
TRANSITION_TO_MC
FW_MODE

Definition at line 89 of file standard.h.

Constructor & Destructor Documentation

◆ Standard()

Standard::Standard ( VtolAttitudeControl * _att_controller )

Definition at line 51 of file standard.cpp.

References VtolType::_mc_pitch_weight, VtolType::_mc_roll_weight, VtolType::_mc_throttle_weight, VtolType::_mc_yaw_weight, _params_handles_standard, VtolType::_pusher_active, _vtol_schedule, MC_MODE, and param_find().

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◆ ~Standard()

Standard::~Standard ( )

overridedefault

Member Function Documentation

◆ fill_actuator_outputs()

void Standard::fill_actuator_outputs ( )

overridevirtual

Prepare message to acutators with data from mc and fw attitude controllers.

An mc attitude weighting will determine what proportion of control should be applied to each of the control groups (mc and fw).

Implements VtolType.

Definition at line 409 of file standard.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, _pusher_throttle, _reverse_output, _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 Standard::parameters_update ( )

overrideprivatevirtual

Implements VtolType.

Definition at line 73 of file standard.cpp.

References _airspeed_trans_blend_margin, VtolType::_params, _params_handles_standard, _params_standard, Params::airspeed_blend, Params::back_trans_duration, math::constrain(), f(), param_get(), math::radians(), and Params::transition_airspeed.

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◆ update_fw_state()

void Standard::update_fw_state ( )

overridevirtual

Update fixed wing state.

Reimplemented from VtolType.

Definition at line 400 of file standard.cpp.

References VtolType::update_fw_state().

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◆ update_mc_state()

void Standard::update_mc_state ( )

overridevirtual

Update multicopter state.

Reimplemented from VtolType.

Definition at line 324 of file standard.cpp.

References VtolType::_attc, _params_standard, _pusher_throttle, VtolType::_v_att, VtolType::_v_att_sp, VtolType::_v_control_mode, matrix::Matrix< Type, M, N >::copyTo(), position_setpoint_triplet_s::current, f(), vehicle_control_mode_s::flag_control_position_enabled, FLT_EPSILON, VtolAttitudeControl::get_pos_sp_triplet(), VtolAttitudeControl::get_vtol_vehicle_status(), matrix::Vector< Type, M >::normalize(), vehicle_attitude_setpoint_s::pitch_body, vehicle_attitude_s::q, vehicle_attitude_setpoint_s::q_d, vehicle_attitude_setpoint_s::q_d_valid, vehicle_attitude_setpoint_s::roll_body, position_setpoint_s::type, VtolType::update_mc_state(), position_setpoint_s::valid, vtol_vehicle_status_s::vtol_transition_failsafe, and matrix::wrap_pi().

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◆ update_transition_state()

void Standard::update_transition_state ( )

overridevirtual

Update transition state.

Implements VtolType.

Definition at line 236 of file standard.cpp.

References _airspeed_trans_blend_margin, VtolType::_airspeed_validated, VtolType::_attc, 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_standard, _pusher_throttle, VtolType::_v_att_sp, _vtol_schedule, VtolAttitudeControl::abort_front_transition(), Params::airspeed_blend, Params::airspeed_disabled, Params::back_trans_throttle, math::constrain(), matrix::Matrix< Type, M, N >::copyTo(), ENABLED, airspeed_validated_s::equivalent_airspeed_m_s, f(), FLT_EPSILON, Params::front_trans_throttle, Params::front_trans_time_min, Params::front_trans_timeout, hrt_absolute_time(), vehicle_attitude_setpoint_s::pitch_body, vehicle_attitude_setpoint_s::q_d, vehicle_attitude_setpoint_s::q_d_valid, vehicle_attitude_setpoint_s::roll_body, VtolType::set_motor_state(), TRANSITION_TO_FW, TRANSITION_TO_MC, VtolType::update_transition_state(), and vehicle_attitude_setpoint_s::yaw_body.

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◆ update_vtol_state()

void Standard::update_vtol_state ( )

overridevirtual

Update vtol state.

Implements VtolType.

Definition at line 108 of file standard.cpp.

References VtolType::_airspeed_validated, VtolType::_attc, VtolType::_local_pos, VtolType::_mc_pitch_weight, VtolType::_mc_roll_weight, VtolType::_mc_throttle_weight, VtolType::_mc_yaw_weight, VtolType::_params, _params_standard, _pusher_throttle, _reverse_output, VtolType::_trans_finished_ts, 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, Params::front_trans_time_min, FW_MODE, hrt_absolute_time(), VtolAttitudeControl::is_fixed_wing_requested(), MC_MODE, vehicle_attitude_s::q, ROTARY_WING, Params::transition_airspeed, TRANSITION_TO_FW, TRANSITION_TO_FW, TRANSITION_TO_MC, TRANSITION_TO_MC, vehicle_local_position_s::v_xy_valid, vtol_vehicle_status_s::vtol_transition_failsafe, vehicle_local_position_s::vx, vehicle_local_position_s::vy, and vehicle_local_position_s::vz.

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◆ waiting_on_tecs()

void Standard::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 486 of file standard.cpp.

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

Member Data Documentation

◆ _airspeed_trans_blend_margin

float Standard::_airspeed_trans_blend_margin {0.0f}

private

Definition at line 103 of file standard.h.

Referenced by parameters_update(), and update_transition_state().

◆ _params_handles_standard

struct { ... } Standard::_params_handles_standard

Referenced by parameters_update(), and Standard().

◆ _params_standard

struct { ... } Standard::_params_standard

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

◆ _pusher_throttle

float Standard::_pusher_throttle {0.0f}

private

Definition at line 101 of file standard.h.

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

◆ _reverse_output

float Standard::_reverse_output {0.0f}

private

Definition at line 102 of file standard.h.

Referenced by fill_actuator_outputs(), and update_vtol_state().

◆ _vtol_schedule

struct { ... } Standard::_vtol_schedule

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

◆ back_trans_ramp [1/2]

float Standard::back_trans_ramp

Definition at line 71 of file standard.h.

◆ back_trans_ramp [2/2]

param_t Standard::back_trans_ramp

Definition at line 81 of file standard.h.

◆ down_pitch_max [1/2]

float Standard::down_pitch_max

Definition at line 72 of file standard.h.

◆ down_pitch_max [2/2]

param_t Standard::down_pitch_max

Definition at line 82 of file standard.h.

◆ flight_mode

vtol_mode Standard::flight_mode

Definition at line 97 of file standard.h.

◆ forward_thrust_scale [1/2]

float Standard::forward_thrust_scale

Definition at line 73 of file standard.h.

◆ forward_thrust_scale [2/2]

param_t Standard::forward_thrust_scale

Definition at line 83 of file standard.h.

◆ pitch_setpoint_offset [1/2]

float Standard::pitch_setpoint_offset

Definition at line 74 of file standard.h.

◆ pitch_setpoint_offset [2/2]

param_t Standard::pitch_setpoint_offset

Definition at line 84 of file standard.h.

◆ pusher_ramp_dt [1/2]

float Standard::pusher_ramp_dt

Definition at line 70 of file standard.h.

◆ pusher_ramp_dt [2/2]

param_t Standard::pusher_ramp_dt

Definition at line 80 of file standard.h.

◆ reverse_delay [1/2]

float Standard::reverse_delay

Definition at line 76 of file standard.h.

◆ reverse_delay [2/2]

param_t Standard::reverse_delay

Definition at line 86 of file standard.h.

◆ reverse_output [1/2]

float Standard::reverse_output

Definition at line 75 of file standard.h.

◆ reverse_output [2/2]

param_t Standard::reverse_output

Definition at line 85 of file standard.h.

◆ transition_start

hrt_abstime Standard::transition_start

Definition at line 98 of file standard.h.

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

src/modules/vtol_att_control/standard.h
src/modules/vtol_att_control/standard.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ vtol_mode

Constructor & Destructor Documentation

◆ Standard()

◆ ~Standard()

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

◆ _airspeed_trans_blend_margin

◆ _params_handles_standard

◆ _params_standard

◆ _pusher_throttle

◆ _reverse_output

◆ _vtol_schedule

◆ back_trans_ramp [1/2]

◆ back_trans_ramp [2/2]

◆ down_pitch_max [1/2]

◆ down_pitch_max [2/2]

◆ flight_mode

◆ forward_thrust_scale [1/2]

◆ forward_thrust_scale [2/2]

◆ pitch_setpoint_offset [1/2]

◆ pitch_setpoint_offset [2/2]

◆ pusher_ramp_dt [1/2]

◆ pusher_ramp_dt [2/2]

◆ reverse_delay [1/2]

◆ reverse_delay [2/2]

◆ reverse_output [1/2]

◆ reverse_output [2/2]

◆ transition_start