ArduPlane/transition.h

   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 #include <GCS_MAVLink/GCS_MAVLink.h>
  17
  18 class QuadPlane;
  19 class AP_MotorsMulticopter;
  20 // Transition empty base class
  21 class Transition
  22 {
  23 public:
  24
  25     Transition(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors):quadplane(_quadplane),motors(_motors) {};
  26
  27     virtual void update() = 0;
  28
  29     virtual void VTOL_update() = 0;
  30
  31     virtual void force_transition_complete() = 0;
  32
  33     virtual bool complete() const = 0;
  34
  35     virtual void restart() = 0;
  36
  37     virtual uint8_t get_log_transition_state() const = 0;
  38
  39     virtual bool active_frwd() const = 0;
  40
  41     virtual bool show_vtol_view() const = 0;
  42
  43     virtual void set_FW_roll_pitch(int32_t& nav_pitch_cd, int32_t& nav_roll_cd) {};
  44
  45     virtual bool set_FW_roll_limit(int32_t& roll_limit_cd) { return false; }
  46
  47     virtual bool allow_update_throttle_mix() const { return true; }
  48
  49     virtual bool update_yaw_target(float& yaw_target_cd) { return false; }
  50
  51     virtual MAV_VTOL_STATE get_mav_vtol_state() const = 0;
  52
  53     virtual bool set_VTOL_roll_pitch_limit(int32_t& nav_roll_cd, int32_t& nav_pitch_cd) { return false; }
  54
  55     virtual bool allow_weathervane() { return true; }
  56
  57     virtual void set_last_fw_pitch(void) {}
  58
  59     virtual bool allow_stick_mixing() const { return true; }
  60
  61 protected:
  62
  63     // refences for convenience
  64     QuadPlane& quadplane;
  65     AP_MotorsMulticopter*& motors;
  66
  67 };
  68
  69 // Transition for separate left thrust quadplanes
  70 class SLT_Transition : public Transition
  71 {
  72 public:
  73
  74     using Transition::Transition;
  75
  76     void update() override;
  77
  78     void VTOL_update() override;
  79
  80     void force_transition_complete() override;
  81
  82     bool complete() const override { return transition_state == TRANSITION_DONE; }
  83
  84     void restart() override { transition_state = TRANSITION_AIRSPEED_WAIT; }
  85
  86     uint8_t get_log_transition_state() const override { return static_cast<uint8_t>(transition_state); }
  87
  88     bool active_frwd() const override;
  89
  90     bool show_vtol_view() const override;
  91
  92     void set_FW_roll_pitch(int32_t& nav_pitch_cd, int32_t& nav_roll_cd) override;
  93
  94     bool set_FW_roll_limit(int32_t& roll_limit_cd) override;
  95
  96     bool allow_update_throttle_mix() const override;
  97
  98     MAV_VTOL_STATE get_mav_vtol_state() const override;
  99
 100     bool set_VTOL_roll_pitch_limit(int32_t& nav_roll_cd, int32_t& nav_pitch_cd) override;
 101
 102     void set_last_fw_pitch(void) override;
 103
 104 protected:
 105
 106     enum {
 107         TRANSITION_AIRSPEED_WAIT,
 108         TRANSITION_TIMER,
 109         TRANSITION_DONE
 110     } transition_state;
 111
 112     // timer start for transition
 113     uint32_t transition_start_ms;
 114     uint32_t transition_low_airspeed_ms;
 115
 116     // last throttle value when active
 117     float last_throttle;
 118
 119     // time and pitch angle whe last in a vtol or FW control mode
 120     uint32_t last_fw_mode_ms;
 121     int32_t last_fw_nav_pitch_cd;
 122
 123     // tiltrotor tilt angle when airspeed wait transition stage completes
 124     float airspeed_reached_tilt;
 125
 126     bool in_forced_transition;
 127
 128 };
 129