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Copter: move AutoMode to Auto class

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This commit is contained in:
Pierre Kancir 2021-01-26 12:37:02 +01:00 committed by Andrew Tridgell
parent 0fe10c6c57
commit 07632dc7ed
2 changed files with 15 additions and 14 deletions
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14
ArduCopter/defines.h
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@ -83,20 +83,6 @@ enum tuning_func {
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL 2 // auto pilot will face next waypoint except when doing RTL at which time it will stay in it's last #define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL 2 // auto pilot will face next waypoint except when doing RTL at which time it will stay in it's last
#define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicopters) #define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicopters)
// Auto modes
enum class AutoMode : uint8_t {
TAKEOFF,
WP,
LAND,
RTL,
CIRCLE_MOVE_TO_EDGE,
CIRCLE,
SPLINE,
NAVGUIDED,
LOITER,
LOITER_TO_ALT,
NAV_PAYLOAD_PLACE,
};
// Airmode // Airmode
enum class AirMode { enum class AirMode {

15
ArduCopter/mode.h
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@ -360,6 +360,21 @@ public:
bool is_autopilot() const override { return true; } bool is_autopilot() const override { return true; }
bool in_guided_mode() const override { return mode() == AutoMode::NAVGUIDED; } bool in_guided_mode() const override { return mode() == AutoMode::NAVGUIDED; }
// Auto modes
enum class AutoMode : uint8_t {
TAKEOFF,
WP,
LAND,
RTL,
CIRCLE_MOVE_TO_EDGE,
CIRCLE,
SPLINE,
NAVGUIDED,
LOITER,
LOITER_TO_ALT,
NAV_PAYLOAD_PLACE,
};
// Auto // Auto
AutoMode mode() const { return _mode; } AutoMode mode() const { return _mode; }