ActuatorEffectivenessTilts.hpp

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#pragma once

#include "ActuatorEffectiveness.hpp"
#include "ActuatorEffectivenessRotors.hpp"

#include <px4_platform_common/module_params.h>

class ActuatorEffectivenessTilts : public ModuleParams, public ActuatorEffectiveness
{
public:

	static constexpr int MAX_COUNT = 4;

	enum class Control : int32_t {
		// This matches with the parameter
		None = 0,
		Yaw = 1,
		Pitch = 2,
		YawAndPitch = 3,
	};
	enum class TiltDirection : int32_t {
		// This matches with the parameter
		TowardsFront = 0,
		TowardsRight = 90,
	};

	struct Params {
		Control control;
		float min_angle;
		float max_angle;
		TiltDirection tilt_direction;
	};

	ActuatorEffectivenessTilts(ModuleParams *parent);
	virtual ~ActuatorEffectivenessTilts() = default;

	bool addActuators(Configuration &configuration);

	const char *name() const override { return "Tilts"; }

	int count() const { return _count; }

	const Params &config(int idx) const { return _params[idx]; }

	void updateTorqueSign(const ActuatorEffectivenessRotors::Geometry &geometry, bool disable_pitch = false);

	bool hasYawControl() const;

	float getYawTorqueOfTilt(int tilt_index) const { return _torque[tilt_index](2); }

private:
	void updateParams() override;

	struct ParamHandles {
		param_t control;
		param_t min_angle;
		param_t max_angle;
		param_t tilt_direction;
	};

	ParamHandles _param_handles[MAX_COUNT];
	param_t _count_handle;

	Params _params[MAX_COUNT] {};
	int _count{0};

	matrix::Vector3f _torque[MAX_COUNT] {};
};