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 {
LAND = 0, // currently just stops moving
MANUAL = 1, // manual control
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VELOCITY = 2, // velocity mode
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LOITER = 3, // loiter mode (position hold)
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RTL = 4, // rtl
};
// constructor
Mode(void);
// do not allow copying
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CLASS_NO_COPY(Mode);
// 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;
}
// return a string for this flightmode
virtual const char *name() const = 0;
virtual const char *name4() const = 0;
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();
// pilot input processing
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void get_pilot_input(Vector3f &pilot, float &yaw);
protected:
// navigation support functions
virtual void run_autopilot() {}
// helper functions
bool is_disarmed_or_landed() const;
// functions to control landing
// in modes that support landing
void land_run_horizontal_control();
void land_run_vertical_control(bool pause_descent = false);
// convenience references to avoid code churn in conversion:
Parameters &g;
ParametersG2 &g2;
AP_InertialNav &inertial_nav;
AP_AHRS &ahrs;
Fins *&motors;
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Loiter *&loiter;
RC_Channel *&channel_right;
RC_Channel *&channel_front;
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RC_Channel *&channel_up;
RC_Channel *&channel_yaw;
float &G_Dt;
public:
// pass-through functions to reduce code churn on conversion;
// these are candidates for moving into the Mode base
// class.
bool set_mode(Mode::Number mode, ModeReason reason);
GCS_Blimp &gcs();
// 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:
};
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class ModeVelocity : public Mode
{
public:
// inherit constructor
using Mode::Mode;
virtual void run() override;
bool requires_GPS() const override
{
return true;
}
bool has_manual_throttle() const override
{
return false;
}
bool allows_arming(bool from_gcs) const override
{
return true;
};
bool is_autopilot() const override
{
return false;
//TODO
}
protected:
const char *name() const override
{
return "VELOCITY";
}
const char *name4() const override
{
return "VELY";
}
private:
};
class ModeLoiter : public Mode
{
public:
// inherit constructor
using Mode::Mode;
virtual bool init(bool ignore_checks) override;
virtual void run() override;
bool requires_GPS() const override
{
return true;
}
bool has_manual_throttle() const override
{
return false;
}
bool allows_arming(bool from_gcs) const override
{
return true;
};
bool is_autopilot() const override
{
return false;
//TODO
}
protected:
const char *name() const override
{
return "LOITER";
}
const char *name4() const override
{
return "LOIT";
}
private:
Vector3f target_pos;
float target_yaw;
};
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:
};
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class ModeRTL : public Mode
{
public:
// inherit constructor
using Mode::Mode;
virtual bool init(bool ignore_checks) override;
virtual void run() override;
bool requires_GPS() const override
{
return true;
}
bool has_manual_throttle() const override
{
return false;
}
bool allows_arming(bool from_gcs) const override
{
return true;
};
bool is_autopilot() const override
{
return false;
//TODO
}
protected:
const char *name() const override
{
return "RTL";
}
const char *name4() const override
{
return "RTL";
}
};