Inheritance diagram for Standard:
Public Member Functions | |
| Standard (VtolAttitudeControl *_att_controller) | |
| void | update_vtol_state () override |
| Update vtol state. | |
| void | update_transition_state () override |
| Update transition state. | |
| void | update_fw_state () override |
| Update fixed wing state. | |
| void | update_mc_state () override |
| Update multicopter state. | |
| void | fill_actuator_outputs () override |
| Prepare message to acutators with data from mc and fw attitude controllers. More... | |
| void | waiting_on_tecs () override |
| Special handling opportunity for the time right after transition to FW before TECS is running. | |
 Public Member Functions inherited from VtolType | |
| VtolType (VtolAttitudeControl *att_controller) | |
| VtolType (const VtolType &)=delete | |
| VtolType & | operator= (const VtolType &)=delete |
| bool | init () |
| Initialise. | |
| void | check_quadchute_condition () |
| Checks for fixed-wing failsafe condition and issues abort request if needed. | |
| bool | can_transition_on_ground () |
| Returns true if we're allowed to do a mode transition on the ground. | |
| mode | get_mode () |
Additional Inherited Members | |
| Protected Member Functions inherited from VtolType | |
| bool | set_idle_mc () |
| Sets mc motor minimum pwm to VT_IDLE_PWM_MC which ensures that they are spinning in mc mode. More... | |
| bool | set_idle_fw () |
| Sets mc motor minimum pwm to PWM_MIN which ensures that the motors stop spinning on zero throttle in fw mode. More... | |
| motor_state | set_motor_state (const motor_state current_state, const motor_state next_state, const int value=0) |
| Sets state of a selection of motors, see struct motor_state. More... | |
| Protected Attributes inherited from VtolType | |
| VtolAttitudeControl * | _attc |
| mode | _vtol_mode |
| struct vehicle_attitude_s * | _v_att |
| struct vehicle_attitude_setpoint_s * | _v_att_sp |
| struct vehicle_attitude_setpoint_s * | _mc_virtual_att_sp |
| struct vehicle_attitude_setpoint_s * | _fw_virtual_att_sp |
| struct vehicle_control_mode_s * | _v_control_mode |
| struct vtol_vehicle_status_s * | _vtol_vehicle_status |
| struct actuator_controls_s * | _actuators_out_0 |
| struct actuator_controls_s * | _actuators_out_1 |
| struct actuator_controls_s * | _actuators_mc_in |
| struct actuator_controls_s * | _actuators_fw_in |
| struct vehicle_local_position_s * | _local_pos |
| struct vehicle_local_position_setpoint_s * | _local_pos_sp |
| struct airspeed_s * | _airspeed |
| struct tecs_status_s * | _tecs_status |
| struct vehicle_land_detected_s * | _land_detected |
| struct Params * | _params |
| bool | flag_idle_mc = false |
| bool | _pusher_active = false |
| float | _mc_roll_weight = 1.0f |
| float | _mc_pitch_weight = 1.0f |
| float | _mc_yaw_weight = 1.0f |
| float | _mc_throttle_weight = 1.0f |
| float | _thrust_transition = 0.0f |
| float | _ra_hrate = 0.0f |
| float | _ra_hrate_sp = 0.0f |
| bool | _flag_was_in_trans_mode = false |
| hrt_abstime | _trans_finished_ts = 0 |
| bool | _tecs_running = false |
| hrt_abstime | _tecs_running_ts = 0 |
| motor_state | _motor_state = motor_state::DISABLED |
Member Function Documentation
§ fill_actuator_outputs()
|
overridevirtual |
Prepare message to acutators with data from mc and fw attitude controllers.
An mc attitude weighting will determine what proportion of control should be applied to each of the control groups (mc and fw).
Implements VtolType.
The documentation for this class was generated from the following files:
- src/modules/vtol_att_control/standard.h
- src/modules/vtol_att_control/standard.cpp
