tiltrotor.h

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/**
* @file tiltrotor.h
*
* @author Roman Bapst       <bapstroman@gmail.com>
*
*/

#ifndef TILTROTOR_H
#define TILTROTOR_H
#include "vtol_type.h"
#include <parameters/param.h>
#include <drivers/drv_hrt.h>

class Tiltrotor : public VtolType
{

public:

    Tiltrotor(VtolAttitudeControl *_att_controller);
    ~Tiltrotor() override = default;

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

private:

    struct {
        float tilt_mc;                  /**< actuator value corresponding to mc tilt */
        float tilt_transition;          /**< actuator value corresponding to transition tilt (e.g 45 degrees) */
        float tilt_fw;                  /**< actuator value corresponding to fw tilt */
        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;

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

    /**
     * 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.
     */


    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;

    float _tilt_control{0.0f};      /**< actuator value for the tilt servo */

    void parameters_update() override;

};
#endif