Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #pragma once
      16             : 
      17             : #include <AP_Param/AP_Param.h>
      18             : #include "transition.h"
      19             : #include <AP_Motors/AP_MotorsTailsitter.h>
      20             : #include <AP_Logger/LogStructure.h>
      21             : 
      22             : class QuadPlane;
      23             : class AP_MotorsMulticopter;
      24             : class Tailsitter_Transition;
      25             : class Tailsitter
      26             : {
      27             : friend class QuadPlane;
      28             : friend class Plane;
      29             : public:
      30             : 
      31             :     Tailsitter(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors);
      32             : 
      33    61718796 :     bool enabled() const { return (enable > 0) && setup_complete;}
      34             : 
      35             :     void setup();
      36             : 
      37             :     // return true when flying a control surface only tailsitter
      38             :     bool is_control_surface_tailsitter(void) const;
      39             : 
      40             :     // return true when flying a tailsitter in VTOL
      41             :     bool active(void);
      42             :     
      43             :     // create outputs for tailsitters
      44             :     void output(void);
      45             : 
      46             :     // handle different tailsitter input types
      47             :     void check_input(void);
      48             : 
      49             :     // check if we have completed transition to fixed wing
      50             :     bool transition_fw_complete(void);
      51             : 
      52             :     // return true if we are a tailsitter in FW flight
      53             :     bool is_in_fw_flight(void) const;
      54             : 
      55             :     // check if we have completed transition to vtol
      56             :     bool transition_vtol_complete(void) const;
      57             : 
      58             :     // return true if transition to VTOL flight
      59             :     bool in_vtol_transition(uint32_t now = 0) const;
      60             : 
      61             :     // account for control surface speed scaling in VTOL modes
      62             :     void speed_scaling(void);
      63             : 
      64             :     // return the transition_angle_vtol value
      65             :     int8_t get_transition_angle_vtol() const;
      66             : 
      67             :     // return true if pitch control should be relaxed
      68             :     bool relax_pitch();
      69             : 
      70             :     // Write tailsitter specific log
      71             :     void write_log();
      72             : 
      73             :     // tailsitter speed scaler
      74             :     float last_spd_scaler = 1.0f; // used to slew rate limiting with TAILSITTER_GSCL_ATT_THR option
      75             : 
      76             :     static const struct AP_Param::GroupInfo var_info[];
      77             : 
      78             :     // bit 0 enables plane mode and bit 1 enables body-frame roll mode
      79             :     enum input {
      80             :         TAILSITTER_INPUT_PLANE   = (1U<<0),
      81             :         TAILSITTER_INPUT_BF_ROLL = (1U<<1)
      82             :     };
      83             : 
      84             :     enum gscl_mask {
      85             :         TAILSITTER_GSCL_THROTTLE = (1U<<0),
      86             :         TAILSITTER_GSCL_ATT_THR = (1U<<1),
      87             :         TAILSITTER_GSCL_DISK_THEORY = (1U<<2),
      88             :         TAILSITTER_GSCL_ALTITUDE = (1U<<3),
      89             :     };
      90             : 
      91             :     AP_Int8 enable;
      92             :     AP_Int8 transition_angle_fw;
      93             :     AP_Float transition_rate_fw;
      94             :     AP_Int8 transition_angle_vtol;
      95             :     AP_Float transition_rate_vtol;
      96             :     AP_Float transition_throttle_vtol;
      97             :     AP_Int8 input_type;
      98             :     AP_Float vectored_forward_gain;
      99             :     AP_Float vectored_hover_gain;
     100             :     AP_Float vectored_hover_power;
     101             :     AP_Float throttle_scale_max;
     102             :     AP_Float gain_scaling_min;
     103             :     AP_Float max_roll_angle;
     104             :     AP_Int16 motor_mask;
     105             :     AP_Float scaling_speed_min;
     106             :     AP_Float scaling_speed_max;
     107             :     AP_Int16 gain_scaling_mask;
     108             :     AP_Float disk_loading;
     109             :     AP_Float VTOL_roll_scale;
     110             :     AP_Float VTOL_pitch_scale;
     111             :     AP_Float VTOL_yaw_scale;
     112             :     AP_Float disk_loading_min_outflow;
     113             : 
     114             :     AP_MotorsTailsitter* tailsitter_motors;
     115             : 
     116             : private:
     117             : 
     118             :     // Tailsitter specific log message
     119             :     struct PACKED log_tailsitter {
     120             :         LOG_PACKET_HEADER;
     121             :         uint64_t time_us;
     122             :         float throttle_scaler;
     123             :         float speed_scaler;
     124             :         float min_throttle;
     125             :     };
     126             : 
     127             :     // Data to be logged
     128             :     struct {
     129             :         float throttle_scaler;
     130             :         float speed_scaler;
     131             :         float min_throttle;
     132             :     } log_data;
     133             : 
     134             : 
     135             :     bool setup_complete;
     136             : 
     137             :     // true when flying a tilt-vectored tailsitter
     138             :     bool _is_vectored;
     139             : 
     140             :     // true is outputs are configured
     141             :     bool _have_elevator;
     142             :     bool _have_aileron;
     143             :     bool _have_rudder;
     144             :     bool _have_elevon;
     145             :     bool _have_v_tail;
     146             : 
     147             :     // references for convenience
     148             :     QuadPlane& quadplane;
     149             :     AP_MotorsMulticopter*& motors;
     150             : 
     151             :     // transition logic
     152             :     Tailsitter_Transition* transition;
     153             : 
     154             : };
     155             : 
     156             : 
     157             : // Transition for tailsitters
     158             : class Tailsitter_Transition : public Transition
     159             : {
     160             : friend class Tailsitter;
     161             : public:
     162             : 
     163           6 :     Tailsitter_Transition(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors, Tailsitter& _tailsitter):Transition(_quadplane, _motors), tailsitter(_tailsitter) {};
     164             : 
     165             :     void update() override;
     166             : 
     167             :     void VTOL_update() override;
     168             : 
     169             :     void force_transition_complete() override;
     170             : 
     171        2970 :     bool complete() const override { return transition_state == State::DONE; }
     172             : 
     173             :     // setup for the transition back to fixed wing
     174             :     void restart() override;
     175             : 
     176        6169 :     uint8_t get_log_transition_state() const override { return static_cast<uint8_t>(transition_state); }
     177             : 
     178      452515 :     bool active_frwd() const override { return transition_state == State::ANGLE_WAIT_FW; }
     179             : 
     180             :     bool show_vtol_view() const override;
     181             : 
     182             :     void set_FW_roll_pitch(int32_t& nav_pitch_cd, int32_t& nav_roll_cd) override;
     183             : 
     184             :     bool allow_stick_mixing() const override;
     185             : 
     186             :     MAV_VTOL_STATE get_mav_vtol_state() const override;
     187             : 
     188             :     bool set_VTOL_roll_pitch_limit(int32_t& nav_roll_cd, int32_t& nav_pitch_cd) override;
     189             : 
     190             :     bool allow_weathervane() override;
     191             : 
     192             : private:
     193             : 
     194             :     enum class State {
     195             :         ANGLE_WAIT_FW   = 0,
     196             :         ANGLE_WAIT_VTOL = 1,
     197             :         DONE            = 2,
     198             :     } transition_state;
     199             : 
     200             :     // for transition to VTOL flight
     201             :     uint32_t vtol_transition_start_ms;
     202             :     float vtol_transition_initial_pitch;
     203             : 
     204             :     // for rate limit of VTOL flight
     205             :     uint32_t vtol_limit_start_ms;
     206             :     float vtol_limit_initial_pitch;
     207             : 
     208             :     // for rate limit of FW flight
     209             :     uint32_t fw_limit_start_ms;
     210             :     float fw_limit_initial_pitch;
     211             : 
     212             :     // for transition to FW flight
     213             :     uint32_t fw_transition_start_ms;
     214             :     float fw_transition_initial_pitch;
     215             : 
     216             :     // time when we were last in a vtol control mode
     217             :     uint32_t last_vtol_mode_ms;
     218             : 
     219             :     Tailsitter& tailsitter;
     220             : 
     221             : };