ardupilot/Blimp/mode.h

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#pragma once
#include "Blimp.h"
class Parameters;
class ParametersG2;
class GCS_Blimp;
class Mode
{
public:
// Auto Pilot Modes enumeration
enum class Number : uint8_t {
MANUAL = 0, // manual control similar to Copter's stabilize mode
LAND = 1, // currently just stops moving
// STABILIZE = 0, // manual airframe angle with manual throttle
// ACRO = 1, // manual body-frame angular rate with manual throttle
// ALT_HOLD = 2, // manual airframe angle with automatic throttle
// AUTO = 3, // fully automatic waypoint control using mission commands
// GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
// LOITER = 5, // automatic horizontal acceleration with automatic throttle
// RTL = 6, // automatic return to launching point
// CIRCLE = 7, // automatic circular flight with automatic throttle
// LAND = 9, // automatic landing with horizontal position control
// DRIFT = 11, // semi-automous position, yaw and throttle control
// SPORT = 13, // manual earth-frame angular rate control with manual throttle
// FLIP = 14, // automatically flip the vehicle on the roll axis
// AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
// POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
// BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
// THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
// AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
// GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude
// SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps
// FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder
// FOLLOW = 23, // follow attempts to follow another vehicle or ground station
// ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
// SYSTEMID = 25, // System ID mode produces automated system identification signals in the controllers
// AUTOROTATE = 26, // Autonomous autorotation
};
// constructor
Mode(void);
// do not allow copying
Mode(const Mode &other) = delete;
Mode &operator=(const Mode&) = delete;
// child classes should override these methods
virtual bool init(bool ignore_checks)
{
return true;
}
virtual void run() = 0;
virtual bool requires_GPS() const = 0;
virtual bool has_manual_throttle() const = 0;
virtual bool allows_arming(bool from_gcs) const = 0;
virtual bool is_autopilot() const
{
return false;
}
virtual bool has_user_takeoff(bool must_navigate) const
{
return false;
}
virtual bool in_guided_mode() const
{
return false;
}
virtual bool logs_attitude() const
{
return false;
}
// return a string for this flightmode
virtual const char *name() const = 0;
virtual const char *name4() const = 0;
bool do_user_takeoff(float takeoff_alt_cm, bool must_navigate);
// virtual bool is_taking_off() const;
// static void takeoff_stop() { takeoff.stop(); }
virtual bool is_landing() const
{
return false;
}
// mode requires terrain to be present to be functional
virtual bool requires_terrain_failsafe() const
{
return false;
}
// functions for reporting to GCS
virtual bool get_wp(Location &loc)
{
return false;
};
virtual int32_t wp_bearing() const
{
return 0;
}
virtual uint32_t wp_distance() const
{
return 0;
}
virtual float crosstrack_error() const
{
return 0.0f;
}
void update_navigation();
int32_t get_alt_above_ground_cm(void);
// pilot input processing
void get_pilot_desired_accelerations(float &right_out, float &front_out) const;
float get_pilot_desired_yaw_rate(int16_t stick_angle);
float get_pilot_desired_throttle() const;
// returns climb target_rate reduced to avoid obstacles and
// altitude fence
float get_avoidance_adjusted_climbrate(float target_rate);
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// const Vector3f& get_vel_desired_cms() {
// // note that position control isn't used in every mode, so
// // this may return bogus data:
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// return pos_control->get_vel_desired_cms();
// }
protected:
// navigation support functions
virtual void run_autopilot() {}
// helper functions
bool is_disarmed_or_landed() const;
void zero_throttle_and_relax_ac(bool spool_up = false);
void zero_throttle_and_hold_attitude();
void make_safe_spool_down();
// functions to control landing
// in modes that support landing
void land_run_horizontal_control();
void land_run_vertical_control(bool pause_descent = false);
// return expected input throttle setting to hover:
virtual float throttle_hover() const;
// convenience references to avoid code churn in conversion:
Parameters &g;
ParametersG2 &g2;
AP_InertialNav &inertial_nav;
AP_AHRS &ahrs;
Fins *&motors;
RC_Channel *&channel_right;
RC_Channel *&channel_front;
RC_Channel *&channel_down;
RC_Channel *&channel_yaw;
float &G_Dt;
public:
// Navigation Yaw control
class AutoYaw
{
public:
// yaw(): main product of AutoYaw; the heading:
float yaw();
// mode(): current method of determining desired yaw:
autopilot_yaw_mode mode() const
{
return (autopilot_yaw_mode)_mode;
}
void set_mode_to_default(bool rtl);
void set_mode(autopilot_yaw_mode new_mode);
autopilot_yaw_mode default_mode(bool rtl) const;
// rate_cds(): desired yaw rate in centidegrees/second:
float rate_cds() const;
void set_rate(float new_rate_cds);
// set_roi(...): set a "look at" location:
void set_roi(const Location &roi_location);
void set_fixed_yaw(float angle_deg,
float turn_rate_dps,
int8_t direction,
bool relative_angle);
private:
float look_ahead_yaw();
float roi_yaw();
// auto flight mode's yaw mode
uint8_t _mode = AUTO_YAW_LOOK_AT_NEXT_WP;
// Yaw will point at this location if mode is set to AUTO_YAW_ROI
Vector3f roi;
// bearing from current location to the ROI
float _roi_yaw;
// yaw used for YAW_FIXED yaw_mode
int32_t _fixed_yaw;
// Deg/s we should turn
int16_t _fixed_yaw_slewrate;
// heading when in yaw_look_ahead_yaw
float _look_ahead_yaw;
// turn rate (in cds) when auto_yaw_mode is set to AUTO_YAW_RATE
float _rate_cds;
// used to reduce update rate to 100hz:
uint8_t roi_yaw_counter;
};
static AutoYaw auto_yaw;
// pass-through functions to reduce code churn on conversion;
// these are candidates for moving into the Mode base
// class.
float get_pilot_desired_climb_rate(float throttle_control);
float get_non_takeoff_throttle(void);
bool set_mode(Mode::Number mode, ModeReason reason);
void set_land_complete(bool b);
GCS_Blimp &gcs();
void set_throttle_takeoff(void);
uint16_t get_pilot_speed_dn(void);
// end pass-through functions
};
class ModeManual : public Mode
{
public:
// inherit constructor
using Mode::Mode;
virtual void run() override;
bool requires_GPS() const override
{
return false;
}
bool has_manual_throttle() const override
{
return true;
}
bool allows_arming(bool from_gcs) const override
{
return true;
};
bool is_autopilot() const override
{
return false;
}
protected:
const char *name() const override
{
return "MANUAL";
}
const char *name4() const override
{
return "MANU";
}
private:
};
class ModeLand : public Mode
{
public:
// inherit constructor
using Mode::Mode;
virtual void run() override;
bool requires_GPS() const override
{
return false;
}
bool has_manual_throttle() const override
{
return true;
}
bool allows_arming(bool from_gcs) const override
{
return false;
};
bool is_autopilot() const override
{
return false;
}
protected:
const char *name() const override
{
return "LAND";
}
const char *name4() const override
{
return "LAND";
}
private:
};