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Sub: rename modes loiter->velhold, sport->transect

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This commit is contained in:
Jacob Walser 2016-08-31 22:47:04 -04:00 committed by Andrew Tridgell
parent e844e28a77
commit 0085cc8a27
10 changed files with 32 additions and 134 deletions
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83
ArduSub/GCS_Mavlink.cpp
View File

@ -49,11 +49,12 @@ NOINLINE void Sub::send_heartbeat(mavlink_channel_t chan)
switch (control_mode) {
case AUTO:
case RTL:
case LOITER:
case VELHOLD:
case GUIDED:
case CIRCLE:
case POSHOLD:
case BRAKE:
case TRANSECT:
base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
// APM does in any mode, as that is defined as "system finds its own goal
@ -167,19 +168,17 @@ NOINLINE void Sub::send_extended_status1(mavlink_channel_t chan)
case ALT_HOLD:
case AUTO:
case GUIDED:
case LOITER:
case VELHOLD:
case RTL:
case CIRCLE:
case SURFACE:
case OF_LOITER:
case POSHOLD:
case BRAKE:
case TRANSECT:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
break;
case SPORT:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
break;
default:
break;
}
@ -1267,7 +1266,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_NAV_LOITER_UNLIM:
if (sub.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {
if (sub.set_mode(POSHOLD, MODE_REASON_GCS_COMMAND)) {
result = MAV_RESULT_ACCEPTED;
}
break;
@ -1638,78 +1637,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
/* Solo user presses Fly button */
case MAV_CMD_SOLO_BTN_FLY_CLICK: {
result = MAV_RESULT_ACCEPTED;
if (sub.failsafe.radio) {
break;
}
// set mode to Loiter or fall back to AltHold
if (!sub.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {
sub.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND);
}
break;
}
// Not supported in Sub
// /* Solo user holds down Fly button for a couple of seconds */
// case MAV_CMD_SOLO_BTN_FLY_HOLD: {
// result = MAV_RESULT_ACCEPTED;
//
// if (sub.failsafe.radio) {
// break;
// }
//
// if (!sub.motors.armed()) {
// // if disarmed, arm motors
// sub.init_arm_motors(true);
// } else if (sub.ap.land_complete) {
// // if armed and landed, takeoff
// if (sub.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {
// sub.do_user_takeoff(packet.param1*100, true);
// }
// } else {
// // if flying, land
// sub.set_mode(LAND, MODE_REASON_GCS_COMMAND);
// }
// break;
// }
/* Solo user presses pause button */
case MAV_CMD_SOLO_BTN_PAUSE_CLICK: {
result = MAV_RESULT_ACCEPTED;
if (sub.failsafe.radio) {
break;
}
if (sub.motors.armed()) {
if (sub.ap.land_complete) {
// if landed, disarm motors
sub.init_disarm_motors();
} else {
// assume that shots modes are all done in guided.
// NOTE: this may need to change if we add a non-guided shot mode
bool shot_mode = (!is_zero(packet.param1) && sub.control_mode == GUIDED);
if (!shot_mode) {
if (sub.set_mode(BRAKE, MODE_REASON_GCS_COMMAND)) {
sub.brake_timeout_to_loiter_ms(2500);
} else {
sub.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND);
}
} else {
// SoloLink is expected to handle pause in shots
}
}
}
break;
}
default:
result = MAV_RESULT_UNSUPPORTED;
break;

8
ArduSub/Sub.h
View File

@ -792,8 +792,8 @@ private:
void guided_limit_init_time_and_pos();
bool guided_limit_check();
float get_land_descent_speed();
bool loiter_init(bool ignore_checks);
void loiter_run();
bool velhold_init(bool ignore_checks);
void velhold_run();
bool poshold_init(bool ignore_checks);
void poshold_run();
void poshold_update_pilot_lean_angle(float &lean_angle_filtered, float &lean_angle_raw);
@ -826,8 +826,8 @@ private:
void rtl_land_run();
void rtl_build_path(bool terrain_following_allowed);
void rtl_compute_return_alt(const Location_Class &rtl_origin_point, Location_Class &rtl_return_target, bool terrain_following_allowed);
bool sport_init(bool ignore_checks);
void sport_run();
bool transect_init(bool ignore_checks);
void transect_run();
bool stabilize_init(bool ignore_checks);
void stabilize_run();
bool manual_init(bool ignore_checks);

2
ArduSub/control_brake.cpp
View File

@ -74,7 +74,7 @@ void Sub::brake_run()
pos_control.update_z_controller();
if (brake_timeout_ms != 0 && millis()-brake_timeout_start >= brake_timeout_ms) {
if (!set_mode(LOITER, MODE_REASON_BRAKE_TIMEOUT)) {
if (!set_mode(POSHOLD, MODE_REASON_BRAKE_TIMEOUT)) {
set_mode(ALT_HOLD, MODE_REASON_BRAKE_TIMEOUT);
}
}

2
ArduSub/control_rtl.cpp
View File

@ -287,7 +287,7 @@ void Sub::rtl_descent_run()
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
if (!set_mode(LOITER, MODE_REASON_THROTTLE_LAND_ESCAPE)) {
if (!set_mode(POSHOLD, MODE_REASON_THROTTLE_LAND_ESCAPE)) {
set_mode(ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE);
}
}

0
ArduSub/control_sport.cpp → ArduSub/control_transect.cpp
View File

0
ArduSub/control_loiter.cpp → ArduSub/control_velhold.cpp
View File

4
ArduSub/defines.h
View File

@ -102,13 +102,13 @@ enum control_mode_t {
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
VELHOLD = 5, // automatic horizontal acceleration with automatic throttle
RTL = 6, // automatic return to launching point
CIRCLE = 7, // automatic circular flight with automatic throttle
SURFACE = 9, // automatic landing with horizontal position control
OF_LOITER = 10, // deprecated
DRIFT = 11, // semi-automous position, yaw and throttle control
SPORT = 13, // manual earth-frame angular rate control with manual throttle
TRANSECT = 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

29
ArduSub/flight_mode.cpp
View File

@ -47,8 +47,8 @@ bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
success = circle_init(ignore_checks);
break;
case LOITER:
success = loiter_init(ignore_checks);
case VELHOLD:
success = velhold_init(ignore_checks);
break;
case GUIDED:
@ -67,8 +67,8 @@ bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
success = drift_init(ignore_checks);
break;
case SPORT:
success = sport_init(ignore_checks);
case TRANSECT:
success = transect_init(ignore_checks);
break;
case FLIP:
@ -164,8 +164,8 @@ void Sub::update_flight_mode()
circle_run();
break;
case LOITER:
loiter_run();
case VELHOLD:
velhold_run();
break;
case GUIDED:
@ -184,8 +184,8 @@ void Sub::update_flight_mode()
drift_run();
break;
case SPORT:
sport_run();
case TRANSECT:
transect_run();
break;
case FLIP:
@ -259,13 +259,14 @@ bool Sub::mode_requires_GPS(control_mode_t mode) {
switch(mode) {
case AUTO:
case GUIDED:
case LOITER:
case VELHOLD:
case RTL:
case CIRCLE:
case DRIFT:
case POSHOLD:
case BRAKE:
case THROW:
case TRANSECT:
return true;
default:
return false;
@ -291,7 +292,7 @@ bool Sub::mode_has_manual_throttle(control_mode_t mode) {
// mode_allows_arming - returns true if vehicle can be armed in the specified mode
// arming_from_gcs should be set to true if the arming request comes from the ground station
bool Sub::mode_allows_arming(control_mode_t mode, bool arming_from_gcs) {
if (mode_has_manual_throttle(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || mode == DRIFT || mode == SPORT || mode == THROW || (arming_from_gcs && mode == GUIDED)) {
if (mode_has_manual_throttle(mode) || mode == VELHOLD || mode == ALT_HOLD || mode == POSHOLD || mode == DRIFT || mode == TRANSECT || mode == THROW || (arming_from_gcs && mode == GUIDED)) {
return true;
}
return false;
@ -336,8 +337,8 @@ void Sub::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
case GUIDED:
port->print("GUIDED");
break;
case LOITER:
port->print("LOITER");
case VELHOLD:
port->print("VELHOLD");
break;
case RTL:
port->print("RTL");
@ -354,8 +355,8 @@ void Sub::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
case DRIFT:
port->print("DRIFT");
break;
case SPORT:
port->print("SPORT");
case TRANSECT:
port->print("TRANSECT");
break;
case FLIP:
port->print("FLIP");

4
ArduSub/navigation.cpp
View File

@ -26,7 +26,7 @@ void Sub::calc_distance_and_bearing()
void Sub::calc_wp_distance()
{
// get target from loiter or wpinav controller
if (control_mode == LOITER || control_mode == CIRCLE) {
if (control_mode == CIRCLE) {
wp_distance = wp_nav.get_loiter_distance_to_target();
}else if (control_mode == AUTO || control_mode == RTL || (control_mode == GUIDED && guided_mode == Guided_WP)) {
wp_distance = wp_nav.get_wp_distance_to_destination();
@ -39,7 +39,7 @@ void Sub::calc_wp_distance()
void Sub::calc_wp_bearing()
{
// get target from loiter or wpinav controller
if (control_mode == LOITER || control_mode == CIRCLE) {
if (control_mode == CIRCLE) {
wp_bearing = wp_nav.get_loiter_bearing_to_target();
} else if (control_mode == AUTO || control_mode == RTL || (control_mode == GUIDED && guided_mode == Guided_WP)) {
wp_bearing = wp_nav.get_wp_bearing_to_destination();

34
ArduSub/takeoff.cpp
View File

@ -11,43 +11,13 @@
// must_nagivate is true if mode must also control horizontal position
bool Sub::current_mode_has_user_takeoff(bool must_navigate)
{
switch (control_mode) {
case GUIDED:
case LOITER:
case POSHOLD:
return true;
case ALT_HOLD:
case SPORT:
return !must_navigate;
default:
return false;
}
return false; // not supported in Sub
}
// initiate user takeoff - called when MAVLink TAKEOFF command is received
bool Sub::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
{
if (motors.armed() && ap.land_complete && current_mode_has_user_takeoff(must_navigate) && takeoff_alt_cm > current_loc.alt) {
switch(control_mode) {
case GUIDED:
if (guided_takeoff_start(takeoff_alt_cm)) {
set_auto_armed(true);
return true;
}
return false;
case LOITER:
case POSHOLD:
case ALT_HOLD:
case SPORT:
set_auto_armed(true);
takeoff_timer_start(takeoff_alt_cm);
return true;
default:
return false;
}
}
return false;
return false; // not supported in Sub
}
// start takeoff to specified altitude above home in centimeters