Copter: add in additional acro options

Air-mode for multicopters
Rate only for multicopters and trad-heli
if air-mode aux switch is toggled in acro do not reset air-mode on exit

ArduCopter/Parameters.cpp

@@ -969,6 +969,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPPTR(mode_zigzag_ptr, "ZIGZ_", 38, ParametersG2, ModeZigZag),
 #endif
 
+#if MODE_ACRO_ENABLED == ENABLED
+    // @Param: ACRO_OPTIONS
+    // @DisplayName: Acro mode options
+    // @Description: A range of options that can be applied to change acro mode behaviour. Air-mode enables ATC_THR_MIX_MAN at all times (air-mode has no effect on helicopters). Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only.
+    // @Bitmask: 0:Air-mode,1:Rate Loop Only
+    // @User: Advanced
+    AP_GROUPINFO("ACRO_OPTIONS", 39, ParametersG2, acro_options, 0),
+#endif
+
     AP_GROUPEND
 };
 

ArduCopter/Parameters.h

@@ -616,6 +616,10 @@ public:
     void *mode_zigzag_ptr;
 #endif
 
+#if MODE_ACRO_ENABLED == ENABLED
+    AP_Int8 acro_options;
+#endif
+
 };
 
 extern const AP_Param::Info        var_info[];

ArduCopter/RC_Channel.cpp

@@ -112,9 +112,11 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const AuxS
     case AUX_FUNC::SUPERSIMPLE_MODE:
     case AUX_FUNC::SURFACE_TRACKING:
     case AUX_FUNC::WINCH_ENABLE:
-    case AUX_FUNC::AIRMODE:
         do_aux_function(ch_option, ch_flag);
         break;
+    case AUX_FUNC::AIRMODE:
+        do_aux_function_change_air_mode(ch_flag);
+        break;
     default:
         RC_Channel::init_aux_function(ch_option, ch_flag);
         break;
@@ -596,17 +598,11 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
             break;
 
         case AUX_FUNC::AIRMODE:
-            switch (ch_flag) {
+            do_aux_function_change_air_mode(ch_flag);
-            case AuxSwitchPos::HIGH:
+#if MODE_ACRO_ENABLED == ENABLED && FRAME_CONFIG != HELI_FRAME
-                copter.air_mode = AirMode::AIRMODE_ENABLED;
+            copter.mode_acro.air_mode_aux_changed();
-                break;
+#endif
-            case AuxSwitchPos::MIDDLE:
+            break;
-                break;
-            case AuxSwitchPos::LOW:
-                copter.air_mode = AirMode::AIRMODE_DISABLED;
-                break;
-            }
-        break;
             
     default:
         RC_Channel::do_aux_function(ch_option, ch_flag);
@@ -614,6 +610,21 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
     }
 }
 
+// change air-mode status
+void RC_Channel_Copter::do_aux_function_change_air_mode(const AuxSwitchPos ch_flag)
+{
+    switch (ch_flag) {
+    case AuxSwitchPos::HIGH:
+        copter.air_mode = AirMode::AIRMODE_ENABLED;
+        break;
+    case AuxSwitchPos::MIDDLE:
+        break;
+    case AuxSwitchPos::LOW:
+        copter.air_mode = AirMode::AIRMODE_DISABLED;
+        break;
+    }
+}
+
 // save_trim - adds roll and pitch trims from the radio to ahrs
 void Copter::save_trim()
 {

ArduCopter/RC_Channel.h

@@ -19,6 +19,7 @@ private:
     void do_aux_function_armdisarm(const AuxSwitchPos ch_flag) override;
     void do_aux_function_change_mode(const Mode::Number mode,
                                      const AuxSwitchPos ch_flag);
+    void do_aux_function_change_air_mode(const AuxSwitchPos ch_flag);
 
     // called when the mode switch changes position:
     void mode_switch_changed(modeswitch_pos_t new_pos) override;

ArduCopter/mode.cpp

@@ -362,6 +362,12 @@ void Copter::exit_mode(Mode *&old_flightmode,
     }
 #endif
 
+#if MODE_ACRO_ENABLED == ENABLED
+    if (old_flightmode == &mode_acro) {
+        mode_acro.exit();
+    }
+#endif
+
 #if FRAME_CONFIG == HELI_FRAME
     // firmly reset the flybar passthrough to false when exiting acro mode.
     if (old_flightmode == &mode_acro) {

ArduCopter/mode.h

@@ -265,12 +265,21 @@ public:
         LIMITED = 2,
     };
 
+    enum class AcroOptions {
+        AIR_MODE = 1 << 0,
+        RATE_LOOP_ONLY = 1 << 1,
+    };
+
     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; }
+    bool init(bool ignore_checks) override;
+    void exit();
+    // whether an air-mode aux switch has been toggled
+    void air_mode_aux_changed();
 
 protected:
 
@@ -282,7 +291,7 @@ protected:
     float throttle_hover() const override;
 
 private:
-
+    bool disable_air_mode_reset;
 };
 #endif
 

ArduCopter/mode_acro.cpp

@@ -51,7 +51,11 @@ void ModeAcro::run()
     }
 
     // run attitude controller
-    attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
+    if (g2.acro_options.get() & uint8_t(AcroOptions::RATE_LOOP_ONLY)) {
+        attitude_control->input_rate_bf_roll_pitch_yaw_2(target_roll, target_pitch, target_yaw);
+    } else {
+        attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
+    }
 
     // output pilot's throttle without angle boost
     attitude_control->set_throttle_out(get_pilot_desired_throttle(),
@@ -59,6 +63,29 @@ void ModeAcro::run()
                                        copter.g.throttle_filt);
 }
 
+bool ModeAcro::init(bool ignore_checks)
+{
+    if (g2.acro_options.get() & uint8_t(AcroOptions::AIR_MODE)) {
+        disable_air_mode_reset = false;
+        copter.air_mode = AirMode::AIRMODE_ENABLED;
+    }
+
+    return true;
+}
+
+void ModeAcro::exit()
+{
+    if (!disable_air_mode_reset && (g2.acro_options.get() & uint8_t(AcroOptions::AIR_MODE))) {
+        copter.air_mode = AirMode::AIRMODE_DISABLED;
+    }
+    disable_air_mode_reset = false;
+}
+
+void ModeAcro::air_mode_aux_changed()
+{
+    disable_air_mode_reset = true;
+}
+
 float ModeAcro::throttle_hover() const
 {
     if (g2.acro_thr_mid > 0) {

ArduCopter/mode_acro_heli.cpp

@@ -88,7 +88,11 @@ void ModeAcro_Heli::run()
         }
 
         // run attitude controller
-        attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
+        if (g2.acro_options.get() & uint8_t(AcroOptions::RATE_LOOP_ONLY)) {
+            attitude_control->input_rate_bf_roll_pitch_yaw_2(target_roll, target_pitch, target_yaw);
+        } else {
+            attitude_control->input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
+        }
     }else{
         /*
           for fly-bar passthrough use control_in values with no