standard.h

Go to the documentation of this file.

/****************************************************************************
 *
 *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
* @file standard.h
* VTOL with fixed multirotor motor configurations (such as quad) and a pusher
* (or puller aka tractor) motor for forward flight.
*
* @author Simon Wilks       <simon@uaventure.com>
* @author Roman Bapst       <bapstroman@gmail.com>
* @author Andreas Antener   <andreas@uaventure.com>
* @author Sander Smeets     <sander@droneslab.com>
*
*/

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

class Standard : public VtolType
{

public:

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

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

private:

    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;

    enum class vtol_mode {
        MC_MODE = 0,
        TRANSITION_TO_FW,
        TRANSITION_TO_MC,
        FW_MODE
    };

    struct {
        vtol_mode flight_mode;          // indicates in which mode the vehicle is in
        hrt_abstime transition_start;   // at what time did we start a transition (front- or backtransition)
    } _vtol_schedule;

    float _pusher_throttle{0.0f};
    float _reverse_output{0.0f};
    float _airspeed_trans_blend_margin{0.0f};

    void parameters_update() override;
};
#endif