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Copter: Change from enum to class

This commit is contained in:
muramura 2024-04-17 06:43:28 +09:00 committed by Randy Mackay
parent e5a2ba3ebc
commit 07a5f61782
8 changed files with 43 additions and 43 deletions
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14
ArduCopter/mode.cpp
View File

@ -973,19 +973,19 @@ Mode::AltHoldModeState Mode::get_alt_hold_state(float target_climb_rate_cms)
switch (motors->get_spool_state()) { switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN: case AP_Motors::SpoolState::SHUT_DOWN:
return AltHold_MotorStopped; return AltHoldModeState::MotorStopped;
case AP_Motors::SpoolState::GROUND_IDLE: case AP_Motors::SpoolState::GROUND_IDLE:
return AltHold_Landed_Ground_Idle; return AltHoldModeState::Landed_Ground_Idle;
default: default:
return AltHold_Landed_Pre_Takeoff; return AltHoldModeState::Landed_Pre_Takeoff;
} }
} else if (takeoff.running() || takeoff.triggered(target_climb_rate_cms)) { } else if (takeoff.running() || takeoff.triggered(target_climb_rate_cms)) {
// the aircraft is currently landed or taking off, asking for a positive climb rate and in THROTTLE_UNLIMITED // the aircraft is currently landed or taking off, asking for a positive climb rate and in THROTTLE_UNLIMITED
// the aircraft should progress through the take off procedure // the aircraft should progress through the take off procedure
return AltHold_Takeoff; return AltHoldModeState::Takeoff;
} else if (!copter.ap.auto_armed || copter.ap.land_complete) { } else if (!copter.ap.auto_armed || copter.ap.land_complete) {
// the aircraft is armed and landed // the aircraft is armed and landed
@ -1000,17 +1000,17 @@ Mode::AltHoldModeState Mode::get_alt_hold_state(float target_climb_rate_cms)
if (motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE) { if (motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE) {
// the aircraft is waiting in ground idle // the aircraft is waiting in ground idle
return AltHold_Landed_Ground_Idle; return AltHoldModeState::Landed_Ground_Idle;
} else { } else {
// the aircraft can leave the ground at any time // the aircraft can leave the ground at any time
return AltHold_Landed_Pre_Takeoff; return AltHoldModeState::Landed_Pre_Takeoff;
} }
} else { } else {
// the aircraft is in a flying state // the aircraft is in a flying state
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
return AltHold_Flying; return AltHoldModeState::Flying;
} }
} }

12
ArduCopter/mode.h
View File

@ -231,12 +231,12 @@ protected:
virtual float throttle_hover() const; virtual float throttle_hover() const;
// Alt_Hold based flight mode states used in Alt_Hold, Loiter, and Sport // Alt_Hold based flight mode states used in Alt_Hold, Loiter, and Sport
enum AltHoldModeState { enum class AltHoldModeState {
AltHold_MotorStopped, MotorStopped,
AltHold_Takeoff, Takeoff,
AltHold_Landed_Ground_Idle, Landed_Ground_Idle,
AltHold_Landed_Pre_Takeoff, Landed_Pre_Takeoff,
AltHold_Flying Flying
}; };
AltHoldModeState get_alt_hold_state(float target_climb_rate_cms); AltHoldModeState get_alt_hold_state(float target_climb_rate_cms);

10
ArduCopter/mode_althold.cpp
View File

@ -48,22 +48,22 @@ void ModeAltHold::run()
// Alt Hold State Machine // Alt Hold State Machine
switch (althold_state) { switch (althold_state) {
case AltHold_MotorStopped: case AltHoldModeState::MotorStopped:
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
attitude_control->reset_yaw_target_and_rate(false); attitude_control->reset_yaw_target_and_rate(false);
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break; break;
case AltHold_Landed_Ground_Idle: case AltHoldModeState::Landed_Ground_Idle:
attitude_control->reset_yaw_target_and_rate(); attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH; FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff: case AltHoldModeState::Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms_smoothly(); attitude_control->reset_rate_controller_I_terms_smoothly();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break; break;
case AltHold_Takeoff: case AltHoldModeState::Takeoff:
// initiate take-off // initiate take-off
if (!takeoff.running()) { if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f)); takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
@ -76,7 +76,7 @@ void ModeAltHold::run()
takeoff.do_pilot_takeoff(target_climb_rate); takeoff.do_pilot_takeoff(target_climb_rate);
break; break;
case AltHold_Flying: case AltHoldModeState::Flying:
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
#if AP_AVOIDANCE_ENABLED #if AP_AVOIDANCE_ENABLED

10
ArduCopter/mode_flowhold.cpp
View File

@ -263,7 +263,7 @@ void ModeFlowHold::run()
// Flow Hold State Machine // Flow Hold State Machine
switch (flowhold_state) { switch (flowhold_state) {
case AltHold_MotorStopped: case AltHoldModeState::MotorStopped:
copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN); copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
copter.attitude_control->reset_rate_controller_I_terms(); copter.attitude_control->reset_rate_controller_I_terms();
copter.attitude_control->reset_yaw_target_and_rate(); copter.attitude_control->reset_yaw_target_and_rate();
@ -271,7 +271,7 @@ void ModeFlowHold::run()
flow_pi_xy.reset_I(); flow_pi_xy.reset_I();
break; break;
case AltHold_Takeoff: case AltHoldModeState::Takeoff:
// set motors to full range // set motors to full range
copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
@ -287,16 +287,16 @@ void ModeFlowHold::run()
takeoff.do_pilot_takeoff(target_climb_rate); takeoff.do_pilot_takeoff(target_climb_rate);
break; break;
case AltHold_Landed_Ground_Idle: case AltHoldModeState::Landed_Ground_Idle:
attitude_control->reset_yaw_target_and_rate(); attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH; FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff: case AltHoldModeState::Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms_smoothly(); attitude_control->reset_rate_controller_I_terms_smoothly();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break; break;
case AltHold_Flying: case AltHoldModeState::Flying:
copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// get avoidance adjusted climb rate // get avoidance adjusted climb rate

10
ArduCopter/mode_loiter.cpp
View File

@ -123,7 +123,7 @@ void ModeLoiter::run()
// Loiter State Machine // Loiter State Machine
switch (loiter_state) { switch (loiter_state) {
case AltHold_MotorStopped: case AltHoldModeState::MotorStopped:
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
attitude_control->reset_yaw_target_and_rate(); attitude_control->reset_yaw_target_and_rate();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
@ -131,18 +131,18 @@ void ModeLoiter::run()
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false); attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
break; break;
case AltHold_Landed_Ground_Idle: case AltHoldModeState::Landed_Ground_Idle:
attitude_control->reset_yaw_target_and_rate(); attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH; FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff: case AltHoldModeState::Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms_smoothly(); attitude_control->reset_rate_controller_I_terms_smoothly();
loiter_nav->init_target(); loiter_nav->init_target();
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false); attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break; break;
case AltHold_Takeoff: case AltHoldModeState::Takeoff:
// initiate take-off // initiate take-off
if (!takeoff.running()) { if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f)); takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
@ -161,7 +161,7 @@ void ModeLoiter::run()
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false); attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
break; break;
case AltHold_Flying: case AltHoldModeState::Flying:
// set motors to full range // set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);

10
ArduCopter/mode_poshold.cpp
View File

@ -100,7 +100,7 @@ void ModePosHold::run()
// state machine // state machine
switch (poshold_state) { switch (poshold_state) {
case AltHold_MotorStopped: case AltHoldModeState::MotorStopped:
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
attitude_control->reset_yaw_target_and_rate(false); attitude_control->reset_yaw_target_and_rate(false);
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
@ -115,14 +115,14 @@ void ModePosHold::run()
init_wind_comp_estimate(); init_wind_comp_estimate();
break; break;
case AltHold_Landed_Ground_Idle: case AltHoldModeState::Landed_Ground_Idle:
loiter_nav->clear_pilot_desired_acceleration(); loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target(); loiter_nav->init_target();
attitude_control->reset_yaw_target_and_rate(); attitude_control->reset_yaw_target_and_rate();
init_wind_comp_estimate(); init_wind_comp_estimate();
FALLTHROUGH; FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff: case AltHoldModeState::Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms_smoothly(); attitude_control->reset_rate_controller_I_terms_smoothly();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
@ -131,7 +131,7 @@ void ModePosHold::run()
pitch_mode = RPMode::PILOT_OVERRIDE; pitch_mode = RPMode::PILOT_OVERRIDE;
break; break;
case AltHold_Takeoff: case AltHoldModeState::Takeoff:
// initiate take-off // initiate take-off
if (!takeoff.running()) { if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f)); takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
@ -152,7 +152,7 @@ void ModePosHold::run()
pitch_mode = RPMode::PILOT_OVERRIDE; pitch_mode = RPMode::PILOT_OVERRIDE;
break; break;
case AltHold_Flying: case AltHoldModeState::Flying:
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// get avoidance adjusted climb rate // get avoidance adjusted climb rate

10
ArduCopter/mode_sport.cpp
View File

@ -74,22 +74,22 @@ void ModeSport::run()
// State Machine // State Machine
switch (sport_state) { switch (sport_state) {
case AltHold_MotorStopped: case AltHoldModeState::MotorStopped:
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
attitude_control->reset_yaw_target_and_rate(false); attitude_control->reset_yaw_target_and_rate(false);
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break; break;
case AltHold_Landed_Ground_Idle: case AltHoldModeState::Landed_Ground_Idle:
attitude_control->reset_yaw_target_and_rate(); attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH; FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff: case AltHoldModeState::Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms_smoothly(); attitude_control->reset_rate_controller_I_terms_smoothly();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break; break;
case AltHold_Takeoff: case AltHoldModeState::Takeoff:
// initiate take-off // initiate take-off
if (!takeoff.running()) { if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f)); takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
@ -102,7 +102,7 @@ void ModeSport::run()
takeoff.do_pilot_takeoff(target_climb_rate); takeoff.do_pilot_takeoff(target_climb_rate);
break; break;
case AltHold_Flying: case AltHoldModeState::Flying:
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// get avoidance adjusted climb rate // get avoidance adjusted climb rate

10
ArduCopter/mode_zigzag.cpp
View File

@ -326,7 +326,7 @@ void ModeZigZag::manual_control()
// althold state machine // althold state machine
switch (althold_state) { switch (althold_state) {
case AltHold_MotorStopped: case AltHoldModeState::MotorStopped:
attitude_control->reset_rate_controller_I_terms(); attitude_control->reset_rate_controller_I_terms();
attitude_control->reset_yaw_target_and_rate(); attitude_control->reset_yaw_target_and_rate();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
@ -334,7 +334,7 @@ void ModeZigZag::manual_control()
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(loiter_nav->get_roll(), loiter_nav->get_pitch(), target_yaw_rate); attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(loiter_nav->get_roll(), loiter_nav->get_pitch(), target_yaw_rate);
break; break;
case AltHold_Takeoff: case AltHoldModeState::Takeoff:
// initiate take-off // initiate take-off
if (!takeoff.running()) { if (!takeoff.running()) {
takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f)); takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
@ -353,18 +353,18 @@ void ModeZigZag::manual_control()
takeoff.do_pilot_takeoff(target_climb_rate); takeoff.do_pilot_takeoff(target_climb_rate);
break; break;
case AltHold_Landed_Ground_Idle: case AltHoldModeState::Landed_Ground_Idle:
attitude_control->reset_yaw_target_and_rate(); attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH; FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff: case AltHoldModeState::Landed_Pre_Takeoff:
attitude_control->reset_rate_controller_I_terms_smoothly(); attitude_control->reset_rate_controller_I_terms_smoothly();
loiter_nav->init_target(); loiter_nav->init_target();
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate); attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate);
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break; break;
case AltHold_Flying: case AltHoldModeState::Flying:
// set motors to full range // set motors to full range
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);