Line data    Source code

       1             : #include <AP_Param/AP_Param.h>
       2             : 
       3             : // weather vane class
       4             : class AC_WeatherVane {
       5             :     public:
       6             : 
       7             :         // Constructor
       8             :         AC_WeatherVane(void);
       9             : 
      10             :         CLASS_NO_COPY(AC_WeatherVane);
      11             : 
      12             :         // Calculate and return the yaw output to weathervane the vehicle
      13             :         bool get_yaw_out(float &yaw_output, const int16_t pilot_yaw, const float hgt, const float roll_cdeg, const float pitch_cdeg, const bool is_takeoff, const bool is_landing);
      14             : 
      15             :         // Function to reset all flags and set values. Invoked whenever the weather vaning process is interrupted
      16             :         void reset(void);
      17             : 
      18             :         // allow/disallow weather vaning from other means than by the parameter
      19           0 :         void allow_weathervaning(bool allow) { allowed = allow; }
      20             : 
      21             :         static const struct AP_Param::GroupInfo var_info[];
      22             : 
      23             :     private:
      24             : 
      25             :         // Different options for the direction that vehicle will turn into wind
      26             :         enum class Direction {
      27             :             TAKEOFF_OR_LAND_ONLY = -1,
      28             :             OFF = 0,
      29             :             NOSE_IN = 1, // Only nose into wind
      30             :             NOSE_OR_TAIL_IN = 2, // Nose in or tail into wind, which ever is closest
      31             :             SIDE_IN = 3, // Side into wind for copter tailsitters
      32             :             TAIL_IN = 4, // backwards, for tailsitters, makes it easier to descend
      33             :         };
      34             : 
      35             :         enum class Options {
      36             :             PITCH_ENABLE = (1<<0),
      37             :         };
      38             :     
      39             :         // Parameters
      40             :         AP_Int8 _direction;
      41             :         AP_Float _gain;
      42             :         AP_Float _min_dz_ang_deg;
      43             :         AP_Float _min_height;
      44             :         AP_Float _max_vel_xy;
      45             :         AP_Float _max_vel_z;
      46             :         AP_Int8 _landing_direction;
      47             :         AP_Int8 _takeoff_direction;
      48             :         AP_Int16 _options;
      49             : 
      50             :         float last_output;
      51             :         Direction active_msg_dir;
      52             :         uint32_t first_activate_ms;
      53             :         uint32_t last_check_ms;
      54             : 
      55             :         // Init to true here to avoid a race between init of RC_channel and weathervane
      56             :         bool allowed = true;
      57             : };