Line data    Source code

       1             : /// @file       AP_MotorsTailsitter.h
       2             : /// @brief      Motor control class for tailsitters and bicopters
       3             : #pragma once
       4             : 
       5             : #include <AP_Common/AP_Common.h>
       6             : #include <AP_Math/AP_Math.h>
       7             : #include "AP_MotorsMulticopter.h"
       8             : 
       9             : /// @class      AP_MotorsTailsitter
      10             : class AP_MotorsTailsitter : public AP_MotorsMulticopter {
      11             : public:
      12             : 
      13             :     /// Constructor
      14             :     AP_MotorsTailsitter(uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT);
      15             : 
      16             :     // init
      17             :     void init(motor_frame_class frame_class, motor_frame_type frame_type) override;
      18             : 
      19             :     // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)
      20           0 :     void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override {}
      21             : 
      22             :     // set update rate to motors - a value in hertz
      23             :     void set_update_rate( uint16_t speed_hz ) override;
      24             : 
      25             :     // output_to_motors - sends output to named servos
      26             :     void output_to_motors() override;
      27             : 
      28             :     // get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
      29             :     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
      30             :     uint32_t get_motor_mask() override;
      31             : 
      32             :     // output_motor_mask is not supported by the tailsitter backend, override to ensure no action.
      33       12096 :     void output_motor_mask(float thrust, uint32_t mask, float rudder_dt) override {};
      34             : 
      35             :     // Set by tailsitters using diskloading minumum outflow velocity limit
      36       18764 :     void set_min_throttle(float val) {_external_min_throttle = val;}
      37             : 
      38             : protected:
      39             :     // calculate motor outputs
      40             :     void output_armed_stabilizing() override;
      41             : 
      42           2 :     const char* _get_frame_string() const override { return "TAILSITTER"; }
      43             : 
      44             :     // spin a motor at the pwm value specified
      45             :     void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
      46             : 
      47             :     // calculated outputs
      48             :     float _throttle; // 0..1
      49             :     float _tilt_left;  // -1..1
      50             :     float _tilt_right;  // -1..1
      51             :     float _thrust_left;  // 0..1
      52             :     float _thrust_right;  // 0..1
      53             : 
      54             :     // Set by tailsitters using diskloading minumum outflow velocity limit
      55             :     float _external_min_throttle;
      56             : 
      57             :     // true if differential thrust is available
      58             :     bool _has_diff_thrust;
      59             : 
      60             : };