rotwing_state_V2.h

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/*
 * Copyright (C) 2023 Tomaso De Ponti <T.M.L.DePonti@tudelft.nl>
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef ROTWING_STATE_H
#define ROTWING_STATE_H
 
#include "std.h"
 
#define ROTWING_STATE_HOVER               0 // Wing is skewed in 0 degrees (quad)
#define ROTWING_STATE_SKEWING             1 // WIng is skewing
#define ROTWING_STATE_FW                  2 // Wing is skewed at 90 degrees (fixed wing), hover motors have full authority
#define ROTWING_STATE_FW_HOV_MOT_IDLE     3 // Wing is skewed at 90 degrees (fixed wing), hover motors are forced to idle
#define ROTWING_STATE_FW_HOV_MOT_OFF      4 // Wing is skewed at 90 degrees (fixed wubg), hover motors are switched off
#define ROTWING_STATE_FREE                5 // This is a desired state for which the controller has to decide the desired state itself
 
#define ROTWING_CONFIGURATION_HOVER       0 // UAV is in hover
#define ROTWING_CONFIGURATION_HYBRID      1 // UAV can fly forward and hover if airspeed low, hover motors on
#define ROTWING_CONFIGURATION_EFFICIENT   2 // UAV flies efficiently forward  (FW)
#define ROTWING_CONFIGURATION_FREE        3 // UAV switched between efficient and hybrid dependent on deceleration 
 
struct RotwingState {
  uint8_t current_state;
  uint8_t desired_state;
  uint8_t requested_config;
};
 
#define ROTWING_STATE_WING_QUAD_SETTING         0 // Wing skew at 0 degrees
#define ROTWING_STATE_WING_SCHEDULING_SETTING   1 // Wing skew handled by airspeed scheduler
#define ROTWING_STATE_WING_FW_SETTING           2 // Wing skew at 90 degrees
 
#define ROTWING_STATE_PITCH_QUAD_SETTING        0 // Pitch at prefered hover
#define ROTWING_STATE_PITCH_TRANSITION_SETTING  1 // Pitch scheduled
#define ROTWING_STATE_PITCH_FW_SETTING          2 // Pitch at prefered forward
 
struct RotWingStateSettings {
  uint8_t wing_scheduler;
  bool hover_motors_active;
  bool hover_motors_disable;
  bool force_forward;
  uint8_t preferred_pitch_setting;
  float preferred_pitch_value;
  bool stall_protection;
  float max_v_climb;
  float max_v_descend;
  float nav_max_speed;
};
 
struct RotWingStateSkewing {
  float wing_angle_deg_sp;   // Wing angle setpoint in deg
  float wing_angle_deg;      // Wing angle from sensor in deg
  int32_t servo_pprz_cmd;    // Wing rotation servo pprz cmd
  bool airspeed_scheduling;  // Airspeed scheduling on or off
  bool force_rotation_angle; // Setting to force wing_angle_deg_sp
};
 
extern struct RotwingState rotwing_state;
extern struct RotWingStateSettings rotwing_state_settings;
extern struct RotWingStateSkewing rotwing_state_skewing;
 
extern float rotwing_state_max_hover_speed;
 
extern bool hover_motors_active;
extern bool bool_disable_hover_motors;
 
extern void init_rotwing_state(void);
extern void periodic_rotwing_state(void);
extern void request_rotwing_state(uint8_t state);
extern void rotwing_request_configuration(uint8_t configuration);
extern void rotwing_state_skew_actuator_periodic(void);
extern void rotwing_state_force_skew_off(void);
 
#endif  // ROTWING_STATE_H