vtol_type.h

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#ifndef VTOL_TYPE_H
#define VTOL_TYPE_H

#include <lib/mathlib/mathlib.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>

struct Params {
    int32_t idle_pwm_mc;            // pwm value for idle in mc mode
    int32_t vtol_motor_count;       // number of motors
    int32_t vtol_type;
    bool elevons_mc_lock;       // lock elevons in multicopter mode
    float fw_min_alt;           // minimum relative altitude for FW mode (QuadChute)
    float fw_alt_err;           // maximum negative altitude error for FW mode (Adaptive QuadChute)
    float fw_qc_max_pitch;      // maximum pitch angle FW mode (QuadChute)
    float fw_qc_max_roll;       // maximum roll angle FW mode (QuadChute)
    float front_trans_time_openloop;
    float front_trans_time_min;
    float front_trans_duration;
    float back_trans_duration;
    float transition_airspeed;
    float front_trans_throttle;
    float back_trans_throttle;
    float airspeed_blend;
    bool airspeed_disabled;
    float front_trans_timeout;
    float mpc_xy_cruise;
    int32_t fw_motors_off;          
    int32_t diff_thrust;
    float diff_thrust_scale;
    int32_t v19_vt_rolldir;
};

// Has to match 1:1 msg/vtol_vehicle_status.msg
enum mode {
    TRANSITION_TO_FW = 1,
    TRANSITION_TO_MC = 2,
    ROTARY_WING = 3,
    FIXED_WING = 4
};

enum vtol_type {
    TAILSITTER = 0,
    TILTROTOR,
    STANDARD
};

// these are states that can be applied to a selection of multirotor motors.
// e.g. if we need to shut off some motors after transitioning to fixed wing mode
// we can individually disable them while others might still need to be enabled to produce thrust.
// we can select the target motors via VT_FW_MOT_OFFID
enum motor_state {
    ENABLED = 0,        // motor max pwm will be set to the standard max pwm value
    DISABLED,           // motor max pwm will be set to a value that shuts the motor off
    IDLE,               // motor max pwm will be set to VT_IDLE_PWM_MC
    VALUE               // motor max pwm will be set to a specific value provided, see set_motor_state()
};

enum pwm_limit_type {
    TYPE_MINIMUM = 0,
    TYPE_MAXIMUM
};

class VtolAttitudeControl;

class VtolType
{
public:

    VtolType(VtolAttitudeControl *att_controller);
    VtolType(const VtolType &) = delete;
    VtolType &operator=(const VtolType &) = delete;

    virtual ~VtolType() = default;

    bool init();

    virtual void update_vtol_state() = 0;

    virtual void update_transition_state() = 0;

    virtual void update_mc_state();

    virtual void update_fw_state();

    virtual void fill_actuator_outputs() = 0;

    virtual void waiting_on_tecs() {}

    void check_quadchute_condition();

    bool can_transition_on_ground();



    mode get_mode() {return _vtol_mode;}

    virtual void parameters_update() = 0;

protected:
    VtolAttitudeControl *_attc;
    mode _vtol_mode;

    struct vehicle_attitude_s       *_v_att;                //vehicle attitude
    struct vehicle_attitude_setpoint_s  *_v_att_sp;         //vehicle attitude setpoint
    struct vehicle_attitude_setpoint_s *_mc_virtual_att_sp; // virtual mc attitude setpoint
    struct vehicle_attitude_setpoint_s *_fw_virtual_att_sp; // virtual fw attitude setpoint
    struct vehicle_control_mode_s       *_v_control_mode;   //vehicle control mode
    struct vtol_vehicle_status_s        *_vtol_vehicle_status;
    struct actuator_controls_s          *_actuators_out_0;          //actuator controls going to the mc mixer
    struct actuator_controls_s          *_actuators_out_1;          //actuator controls going to the fw mixer (used for elevons)
    struct actuator_controls_s          *_actuators_mc_in;          //actuator controls from mc_att_control
    struct actuator_controls_s          *_actuators_fw_in;          //actuator controls from fw_att_control
    struct vehicle_local_position_s         *_local_pos;
    struct vehicle_local_position_setpoint_s    *_local_pos_sp;
    struct airspeed_s               *_airspeed;                 // airspeed
    struct tecs_status_s                *_tecs_status;
    struct vehicle_land_detected_s          *_land_detected;

    struct Params                   *_params;

    bool flag_idle_mc = false;      //false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode"

    bool _pusher_active = false;
    float _mc_roll_weight = 1.0f;   // weight for multicopter attitude controller roll output
    float _mc_pitch_weight = 1.0f;  // weight for multicopter attitude controller pitch output
    float _mc_yaw_weight = 1.0f;    // weight for multicopter attitude controller yaw output
    float _mc_throttle_weight = 1.0f;   // weight for multicopter throttle command. Used to avoid

    // motors spinning up or cutting too fast when doing transitions.
    float _thrust_transition = 0.0f;    // thrust value applied during a front transition (tailsitter & tiltrotor only)

    float _ra_hrate = 0.0f;         // rolling average on height rate for quadchute condition
    float _ra_hrate_sp = 0.0f;      // rolling average on height rate setpoint for quadchute condition

    bool _flag_was_in_trans_mode = false;   // true if mode has just switched to transition

    hrt_abstime _trans_finished_ts = 0;

    bool _tecs_running = false;
    hrt_abstime _tecs_running_ts = 0;

    motor_state _motor_state = motor_state::DISABLED;



    bool set_idle_mc();

    bool set_idle_fw();


    motor_state set_motor_state(const motor_state current_state, const motor_state next_state, const int value = 0);

private:


    struct pwm_output_values _min_mc_pwm_values {};
    struct pwm_output_values _max_mc_pwm_values {};
    struct pwm_output_values _disarmed_pwm_values {};

    bool apply_pwm_limits(struct pwm_output_values &pwm_values, pwm_limit_type type);

    bool is_motor_off_channel(const int channel);

};

#endif