Line data    Source code

       1             : #pragma once
       2             : 
       3             : /// @file   AC_InputManager_Heli.h
       4             : /// @brief  Pilot manual control input library for Conventional Helicopter
       5             : 
       6             : #include <AP_Param/AP_Param.h>
       7             : #include <AP_Common/AP_Common.h>
       8             : #include "AC_InputManager.h"
       9             : 
      10             : # define AC_ATTITUDE_HELI_STAB_COLLECTIVE_MIN_DEFAULT     0
      11             : # define AC_ATTITUDE_HELI_STAB_COLLECTIVE_LOW_DEFAULT     40
      12             : # define AC_ATTITUDE_HELI_STAB_COLLECTIVE_HIGH_DEFAULT    60
      13             : # define AC_ATTITUDE_HELI_STAB_COLLECTIVE_MAX_DEFAULT     100
      14             : 
      15             : /// @class  AP_InputManager_Heli
      16             : /// @brief  Class managing the pilot's control inputs   for Conventional Helicopter
      17             : class AC_InputManager_Heli : public AC_InputManager {
      18             : public:
      19             :     // Constructor
      20          83 :     AC_InputManager_Heli()
      21          83 :         : AC_InputManager()
      22             :     {
      23             :         // setup parameter defaults
      24          83 :         AP_Param::setup_object_defaults(this, var_info);
      25          83 :     }
      26             : 
      27             :     /* Do not allow copies */
      28             :     CLASS_NO_COPY(AC_InputManager_Heli);
      29             : 
      30             :     //pass the last collective output from non-manual throttle mode
      31          87 :     void set_last_coll_output(float collective) { _old_flightmode_col_output = collective; }
      32             : 
      33             :     // get_pilot_desired_collective - rescale's pilot collective pitch input in Stabilize and Acro modes
      34             :     float get_pilot_desired_collective(int16_t control_in);
      35             : 
      36             :     // set_use_stab_col - setter function
      37          99 :     void set_use_stab_col(bool use) { _im_flags_heli.use_stab_col = use; }
      38             : 
      39             :     // set collective_ramp - setter function
      40          99 :     void set_collective_ramp(float ramp) { _ramp = constrain_float(ramp, 0.0, 1.0); }
      41             : 
      42             :     // parameter_check - returns true if input manager specific parameters are sensible, used for pre-arm check
      43             :     bool parameter_check(char* fail_msg, uint8_t fail_msg_len) const;
      44             : 
      45             :     static const struct AP_Param::GroupInfo        var_info[];
      46             : 
      47             : private:
      48             :     struct InputManagerHeliFlags {
      49             :         bool use_stab_col; // 1 if we should use Stabilise mode collective range, 0 for Acro range
      50             :     } _im_flags_heli;
      51             : 
      52             :     // previous flight mode collective output
      53             :     float _old_flightmode_col_output;
      54             : 
      55             :     // ramp factor from previous mode to current mode collective output
      56             :     float _ramp;
      57             : 
      58             :     AP_Int16        _heli_stab_col_min;             // minimum collective pitch setting at zero throttle input in Stabilize mode
      59             :     AP_Int16        _heli_stab_col_low;             // collective pitch setting at mid-low throttle input in Stabilize mode
      60             :     AP_Int16        _heli_stab_col_high;            // collective pitch setting at mid-high throttle input in Stabilize mode
      61             :     AP_Int16        _heli_stab_col_max;             // maximum collective pitch setting at full throttle input in Stabilize mode
      62             :     AP_Float        _acro_col_expo;                 // used to soften collective pitch inputs near center point in Acro mode
      63             : 
      64             : };