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Copter: add GUIDED_NOGPS flight mode 

This mode is a cut down version of Guided mode that only accepts attitude commands.
This mode does not require a GPS lock
This commit is contained in:
Randy Mackay 2016-08-01 17:44:12 +09:00
parent cc4fafc3e4
commit 1161417d7f
8 changed files with 49 additions and 10 deletions
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2
ArduCopter/Copter.h
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@ -817,6 +817,8 @@ private:
void guided_limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_max_cm, float horiz_max_cm);
void guided_limit_init_time_and_pos();
bool guided_limit_check();
bool guided_nogps_init(bool ignore_checks);
void guided_nogps_run();
bool land_init(bool ignore_checks);
void land_run();
void land_gps_run();

2
ArduCopter/GCS_Mavlink.cpp
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@ -1624,7 +1624,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
} 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) && copter.control_mode == GUIDED);
bool shot_mode = (!is_zero(packet.param1) && (copter.control_mode == GUIDED || copter.control_mode == GUIDED_NOGPS));
if (!shot_mode) {
if (copter.set_mode(BRAKE, MODE_REASON_GCS_COMMAND)) {

12
ArduCopter/Parameters.cpp
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@ -306,42 +306,42 @@ const AP_Param::Info Copter::var_info[] = {
// @Param: FLTMODE1
// @DisplayName: Flight Mode 1
// @Description: Flight mode when Channel 5 pwm is <= 1230
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS
// @User: Standard
GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1),
// @Param: FLTMODE2
// @DisplayName: Flight Mode 2
// @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS
// @User: Standard
GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2),
// @Param: FLTMODE3
// @DisplayName: Flight Mode 3
// @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS
// @User: Standard
GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3),
// @Param: FLTMODE4
// @DisplayName: Flight Mode 4
// @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS
// @User: Standard
GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4),
// @Param: FLTMODE5
// @DisplayName: Flight Mode 5
// @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS
// @User: Standard
GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5),
// @Param: FLTMODE6
// @DisplayName: Flight Mode 6
// @Description: Flight mode when Channel 5 pwm is >=1750
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS
// @User: Standard
GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6),

2
ArduCopter/arming_checks.cpp
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@ -714,7 +714,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
}
// check throttle is not too high - skips checks if arming from GCS in Guided
if (!(arming_from_gcs && control_mode == GUIDED)) {
if (!(arming_from_gcs && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) {
// above top of deadband is too always high
if (channel_throttle->get_control_in() > get_takeoff_trigger_throttle()) {
if (display_failure) {

24
ArduCopter/control_guided_nogps.cpp Normal file
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@ -0,0 +1,24 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
/*
* Init and run calls for guided_nogps flight mode
*/
// initialise guided_nogps controller
bool Copter::guided_nogps_init(bool ignore_checks)
{
// start in angle control mode
guided_angle_control_start();
return true;
}
// guided_run - runs the guided controller
// should be called at 100hz or more
void Copter::guided_nogps_run()
{
// run angle controller
guided_angle_control_run();
}

1
ArduCopter/defines.h
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@ -106,6 +106,7 @@ enum control_mode_t {
BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude
};
enum mode_reason_t {

2
ArduCopter/events.cpp
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@ -135,7 +135,7 @@ void Copter::failsafe_gcs_off_event(void)
void Copter::failsafe_terrain_check()
{
// trigger with 5 seconds of failures while in AUTO mode
bool valid_mode = (control_mode == AUTO || control_mode == GUIDED || control_mode == RTL);
bool valid_mode = (control_mode == AUTO || control_mode == GUIDED || control_mode == GUIDED_NOGPS || control_mode == RTL);
bool timeout = (failsafe.terrain_last_failure_ms - failsafe.terrain_first_failure_ms) > FS_TERRAIN_TIMEOUT_MS;
bool trigger_event = valid_mode && timeout;

14
ArduCopter/flight_mode.cpp
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@ -107,6 +107,10 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
success = avoid_adsb_init(ignore_checks);
break;
case GUIDED_NOGPS:
success = guided_nogps_init(ignore_checks);
break;
default:
success = false;
break;
@ -234,6 +238,10 @@ void Copter::update_flight_mode()
avoid_adsb_run();
break;
case GUIDED_NOGPS:
guided_nogps_run();
break;
default:
break;
}
@ -328,7 +336,7 @@ bool Copter::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 Copter::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 == LOITER || mode == ALT_HOLD || mode == POSHOLD || mode == DRIFT || mode == SPORT || mode == THROW || (arming_from_gcs && (mode == GUIDED || mode == GUIDED_NOGPS))) {
return true;
}
return false;
@ -342,6 +350,7 @@ void Copter::notify_flight_mode(control_mode_t mode) {
case RTL:
case CIRCLE:
case AVOID_ADSB:
case GUIDED_NOGPS:
case LAND:
// autopilot modes
AP_Notify::flags.autopilot_mode = true;
@ -410,6 +419,9 @@ void Copter::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
case AVOID_ADSB:
port->print("AVOID_ADSB");
break;
case GUIDED_NOGPS:
port->print("GUIDED_NOGPS");
break;
default:
port->printf("Mode(%u)", (unsigned)mode);
break;