ardupilot/APMrover2/mode.h

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#pragma once
#include <stdint.h>
#include <GCS_MAVLink/GCS_MAVLink.h> // for MAV_SEVERITY
#include "defines.h"
#define MODE_NEXT_HEADING_UNKNOWN 99999.0f // used to indicate to set_desired_location method that next leg's heading is unknown
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// pre-define ModeRTL so Auto can appear higher in this file
class ModeRTL;
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class Mode
{
public:
// Constructor
Mode();
// enter this mode, returns false if we failed to enter
bool enter();
// perform any cleanups required:
void exit();
// returns a unique number specific to this mode
virtual uint32_t mode_number() const = 0;
// returns short text name (up to 4 bytes)
virtual const char *name4() const = 0;
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//
// methods that sub classes should override to affect movement of the vehicle in this mode
//
// convert user input to targets, implement high level control for this mode
virtual void update() = 0;
//
// attributes of the mode
//
// return if in non-manual mode : AUTO, GUIDED, RTL
virtual bool is_autopilot_mode() const { return false; }
// returns true if steering is directly controlled by RC
virtual bool manual_steering() const { return false; }
// returns true if the throttle is controlled automatically
virtual bool auto_throttle() { return is_autopilot_mode(); }
//
// attributes for mavlink system status reporting
//
// returns true if any RC input is used
virtual bool has_manual_input() const { return false; }
// true if heading is controlled
virtual bool attitude_stabilized() const { return true; }
// true if mode requires GPS:
virtual bool requires_gps() const { return true; }
//
// navigation methods
//
// return distance (in meters) to destination
virtual float get_distance_to_destination() const { return 0.0f; }
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// set desired location and speed (used in RTL, Guided, Auto)
// next_leg_bearing_cd should be heading to the following waypoint (used to slow the vehicle in order to make the turn)
virtual void set_desired_location(const struct Location& destination, float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN);
// set desired location as offset from the EKF origin, return true on success
bool set_desired_location_NED(const Vector3f& destination, float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN);
// true if vehicle has reached desired location. defaults to true because this is normally used by missions and we do not want the mission to become stuck
virtual bool reached_destination() { return true; }
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// set desired heading and speed - supported in Auto and Guided modes
virtual void set_desired_heading_and_speed(float yaw_angle_cd, float target_speed);
// get speed error in m/s, returns zero for modes that do not control speed
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float speed_error() const { return _speed_error; }
// get default speed for this mode (held in CRUISE_SPEED, WP_SPEED or RTL_SPEED)
// rtl argument should be true if called from RTL or SmartRTL modes (handled here to avoid duplication)
float get_speed_default(bool rtl = false) const;
// set desired speed
void set_desired_speed(float speed) { _desired_speed = speed; }
// restore desired speed to default from parameter values (CRUISE_SPEED or WP_SPEED)
// rtl argument should be true if called from RTL or SmartRTL modes (handled here to avoid duplication)
void set_desired_speed_to_default(bool rtl = false);
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protected:
// subclasses override this to perform checks before entering the mode
virtual bool _enter() { return true; }
// subclasses override this to perform any required cleanup when exiting the mode
virtual void _exit() { return; }
// decode pilot steering held in channel_steer, channel_throttle and return in steer_out and throttle_out arguments
// steering_out is in the range -4500 ~ +4500, throttle_out is in the range -100 ~ +100
void get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out);
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// calculate steering angle given a desired lateral acceleration
void calc_steering_from_lateral_acceleration(bool reversed = false);
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// calculate steering output to drive along line from origin to destination waypoint
void calc_steering_to_waypoint(const struct Location &origin, const struct Location &destination, bool reversed = false);
// calculates the amount of throttle that should be output based
// on things like proximity to corners and current speed
virtual void calc_throttle(float target_speed, bool nudge_allowed = true);
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// performs a controlled stop. returns true once vehicle has stopped
bool stop_vehicle();
// estimate maximum vehicle speed (in m/s)
float calc_speed_max(float cruise_speed, float cruise_throttle);
// calculate pilot input to nudge speed up or down
// target_speed should be in meters/sec
// cruise_speed is vehicle's cruising speed, cruise_throttle is the throttle (from -1 to +1) that achieves the cruising speed
// return value is a new speed (in m/s) which up to the projected maximum speed based on the cruise speed and cruise throttle
float calc_speed_nudge(float target_speed, float cruise_speed, float cruise_throttle);
// calculated a reduced speed(in m/s) based on yaw error and lateral acceleration and/or distance to a waypoint
// should be called after calc_steering_to_waypoint and before calc_throttle
// relies on these internal members being updated: lateral_acceleration, _yaw_error_cd, _distance_to_destination
float calc_reduced_speed_for_turn_or_distance(float desired_speed);
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// references to avoid code churn:
class AP_AHRS &ahrs;
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class Parameters &g;
class ParametersG2 &g2;
class RC_Channel *&channel_steer;
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class RC_Channel *&channel_throttle;
class AP_Mission &mission;
class AR_AttitudeControl &attitude_control;
// private members for waypoint navigation
Location _origin; // origin Location (vehicle will travel from the origin to the destination)
Location _destination; // destination Location when in Guided_WP
float _distance_to_destination; // distance from vehicle to final destination in meters
bool _reached_destination; // true once the vehicle has reached the destination
float _desired_lat_accel; // desired lateral acceleration in m/s/s
float _desired_yaw_cd; // desired yaw in centi-degrees
float _yaw_error_cd; // error between desired yaw and actual yaw in centi-degrees
float _desired_speed; // desired speed in m/s
float _desired_speed_final; // desired speed in m/s when we reach the destination
float _speed_error; // ground speed error in m/s
bool enter_gps_checks() const;
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};
class ModeAcro : public Mode
{
public:
uint32_t mode_number() const override { return ACRO; }
const char *name4() const override { return "ACRO"; }
// methods that affect movement of the vehicle in this mode
void update() override;
// attributes for mavlink system status reporting
bool has_manual_input() const override { return true; }
};
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class ModeAuto : public Mode
{
public:
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// constructor
ModeAuto(ModeRTL& mode_rtl);
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uint32_t mode_number() const override { return AUTO; }
const char *name4() const override { return "AUTO"; }
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// methods that affect movement of the vehicle in this mode
void update() override;
void calc_throttle(float target_speed, bool nudge_allowed = true);
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// attributes of the mode
bool is_autopilot_mode() const override { return true; }
// return distance (in meters) to destination
float get_distance_to_destination() const override;
// set desired location, heading and speed
void set_desired_location(const struct Location& destination, float next_leg_bearing_cd = MODE_NEXT_HEADING_UNKNOWN);
bool reached_destination() override;
// heading and speed control
void set_desired_heading_and_speed(float yaw_angle_cd, float target_speed) override;
bool reached_heading();
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// start RTL (within auto)
void start_RTL();
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// execute the mission in reverse (i.e. backing up)
void set_reversed(bool value);
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protected:
bool _enter() override;
void _exit() override;
enum AutoSubMode {
Auto_WP, // drive to a given location
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Auto_HeadingAndSpeed, // turn to a given heading
Auto_RTL // perform RTL within auto mode
} _submode;
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private:
bool check_trigger(void);
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// references
ModeRTL& _mode_rtl;
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// this is set to true when auto has been triggered to start
bool auto_triggered;
bool _reached_heading; // true when vehicle has reached desired heading in TurnToHeading sub mode
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bool _reversed; // execute the mission by backing up
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};
class ModeGuided : public Mode
{
public:
uint32_t mode_number() const override { return GUIDED; }
const char *name4() const override { return "GUID"; }
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// methods that affect movement of the vehicle in this mode
void update() override;
// attributes of the mode
bool is_autopilot_mode() const override { return true; }
// return distance (in meters) to destination
float get_distance_to_destination() const override;
// set desired location, heading and speed
void set_desired_location(const struct Location& destination);
void set_desired_heading_and_speed(float yaw_angle_cd, float target_speed) override;
// set desired heading-delta, turn-rate and speed
void set_desired_heading_delta_and_speed(float yaw_delta_cd, float target_speed);
void set_desired_turn_rate_and_speed(float turn_rate_cds, float target_speed);
protected:
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enum GuidedMode {
Guided_WP,
Guided_HeadingAndSpeed,
Guided_TurnRateAndSpeed
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};
bool _enter() override;
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GuidedMode _guided_mode; // stores which GUIDED mode the vehicle is in
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// attitude control
bool have_attitude_target; // true if we have a valid attitude target
uint32_t _des_att_time_ms; // system time last call to set_desired_attitude was made (used for timeout)
float _desired_yaw_rate_cds;// target turn rate centi-degrees per second
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};
class ModeHold : public Mode
{
public:
uint32_t mode_number() const override { return HOLD; }
const char *name4() const override { return "HOLD"; }
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// methods that affect movement of the vehicle in this mode
void update() override;
// attributes for mavlink system status reporting
bool attitude_stabilized() const override { return false; }
// hold mode does not require GPS
bool requires_gps() const override { return false; }
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};
class ModeManual : public Mode
{
public:
uint32_t mode_number() const override { return MANUAL; }
const char *name4() const override { return "MANU"; }
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// methods that affect movement of the vehicle in this mode
void update() override;
// attributes of the mode
bool manual_steering() const override { return true; }
// attributes for mavlink system status reporting
bool has_manual_input() const override { return true; }
bool attitude_stabilized() const override { return false; }
// manual mode does not require GPS
bool requires_gps() const override { return false; }
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};
class ModeRTL : public Mode
{
public:
uint32_t mode_number() const override { return RTL; }
const char *name4() const override { return "RTL"; }
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// methods that affect movement of the vehicle in this mode
void update() override;
// attributes of the mode
bool is_autopilot_mode() const override { return true; }
float get_distance_to_destination() const override { return _distance_to_destination; }
bool reached_destination() override { return _reached_destination; }
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protected:
bool _enter() override;
};
class ModeSmartRTL : public Mode
{
public:
uint32_t mode_number() const override { return SMART_RTL; }
const char *name4() const override { return "SRTL"; }
// methods that affect movement of the vehicle in this mode
void update() override;
// attributes of the mode
bool is_autopilot_mode() const override { return true; }
float get_distance_to_destination() const override { return _distance_to_destination; }
bool reached_destination() override { return smart_rtl_state == SmartRTL_StopAtHome; }
// save current position for use by the smart_rtl flight mode
void save_position(bool save_pos);
protected:
// Safe RTL states
enum SmartRTLState {
SmartRTL_WaitForPathCleanup,
SmartRTL_PathFollow,
SmartRTL_StopAtHome,
SmartRTL_Failure
} smart_rtl_state;
bool _enter() override;
bool _load_point;
};
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class ModeSteering : public Mode
{
public:
uint32_t mode_number() const override { return STEERING; }
const char *name4() const override { return "STER"; }
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// methods that affect movement of the vehicle in this mode
void update() override;
// attributes for mavlink system status reporting
bool has_manual_input() const override { return true; }
};
class ModeInitializing : public Mode
{
public:
uint32_t mode_number() const override { return INITIALISING; }
const char *name4() const override { return "INIT"; }
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// methods that affect movement of the vehicle in this mode
void update() override { }
// attributes for mavlink system status reporting
bool has_manual_input() const override { return true; }
bool attitude_stabilized() const override { return false; }
};