Inheritance diagram for VtolType:

Public Member Functions
	VtolType (VtolAttitudeControl *att_controller)

	VtolType (const VtolType &)=delete

VtolType &	operator= (const VtolType &)=delete

bool	init ()
	Initialise.

virtual void	update_vtol_state ()=0
	Update vtol state.

virtual void	update_transition_state ()=0
	Update transition state.

virtual void	update_mc_state ()
	Update multicopter state.

virtual void	update_fw_state ()
	Update fixed wing state.

virtual void	fill_actuator_outputs ()=0
	Write control values to actuator output topics.

virtual void	waiting_on_tecs ()
	Special handling opportunity for the time right after transition to FW before TECS is running.

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 ()

virtual void	parameters_update ()=0

Protected Member Functions
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
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

§ set_idle_fw()

bool VtolType::set_idle_fw ( )

protected

Sets mc motor minimum pwm to PWM_MIN which ensures that the motors stop spinning on zero throttle in fw mode.

bool VtolType::set_idle_mc ( )

protected

Sets mc motor minimum pwm to VT_IDLE_PWM_MC which ensures that they are spinning in mc mode.

motor_state VtolType::set_motor_state	(	const motor_state	current_state,
		const motor_state	next_state,
		const int	value = `0`
	)

protected

Sets state of a selection of motors, see struct motor_state.

Parameters

[in]	current_state	The current motor state
[in]	next_state	The next state
[in]	value	Desired pwm value if next_state = motor_state::VALUE

The documentation for this class was generated from the following files: