tiltrotor.h

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#ifndef TILTROTOR_H
#define TILTROTOR_H
#include "vtol_type.h"
#include <parameters/param.h>
#include <drivers/drv_hrt.h>

class Tiltrotor : public VtolType
{

public:

    Tiltrotor(VtolAttitudeControl *_att_controller);
    ~Tiltrotor() override = default;

    void update_vtol_state() override;
    void update_transition_state() override;
    void fill_actuator_outputs() override;
    void update_mc_state() override;
    void update_fw_state() override;
    void waiting_on_tecs() override;

private:

    struct {
        float tilt_mc;                  
        float tilt_transition;          
        float tilt_fw;                  
        float front_trans_dur_p2;
    } _params_tiltrotor;

    struct {
        param_t tilt_mc;
        param_t tilt_transition;
        param_t tilt_fw;
        param_t front_trans_dur_p2;
    } _params_handles_tiltrotor;

    enum vtol_mode {
        MC_MODE = 0,            
        TRANSITION_FRONT_P1,    
        TRANSITION_FRONT_P2,    
        TRANSITION_BACK,        
        FW_MODE                 
    };

    struct {
        vtol_mode flight_mode;          
        hrt_abstime transition_start;   
    } _vtol_schedule;

    float _tilt_control{0.0f};      
    void parameters_update() override;

};
#endif