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Copter: add mode_number function to Mode class

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Tatsuya Yamaguchi 2020-01-30 15:10:15 +09:00 committed by Peter Barker
parent 543c2bf55b
commit 1dccc0ceb3
1 changed files with 27 additions and 0 deletions
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27
ArduCopter/mode.h
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@ -45,6 +45,9 @@ public:
Mode(const Mode &other) = delete;
Mode &operator=(const Mode&) = delete;
// returns a unique number specific to this mode
virtual Number mode_number() const = 0;
// child classes should override these methods
virtual bool init(bool ignore_checks) {
return true;
@ -249,6 +252,7 @@ class ModeAcro : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::ACRO; }
enum class Trainer {
OFF = 0,
@ -308,6 +312,7 @@ class ModeAltHold : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::ALT_HOLD; }
bool init(bool ignore_checks) override;
void run() override;
@ -335,6 +340,7 @@ class ModeAuto : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::AUTO; }
bool init(bool ignore_checks) override;
void run() override;
@ -538,6 +544,7 @@ class ModeAutoTune : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::AUTOTUNE; }
bool init(bool ignore_checks) override;
void run() override;
@ -564,6 +571,7 @@ class ModeBrake : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::BRAKE; }
bool init(bool ignore_checks) override;
void run() override;
@ -595,6 +603,7 @@ class ModeCircle : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::CIRCLE; }
bool init(bool ignore_checks) override;
void run() override;
@ -625,6 +634,7 @@ class ModeDrift : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::DRIFT; }
bool init(bool ignore_checks) override;
void run() override;
@ -651,6 +661,7 @@ class ModeFlip : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::FLIP; }
bool init(bool ignore_checks) override;
void run() override;
@ -696,6 +707,7 @@ class ModeFlowHold : public Mode {
public:
// need a constructor for parameters
ModeFlowHold(void);
Number mode_number() const override { return Number::FLOWHOLD; }
bool init(bool ignore_checks) override;
void run(void) override;
@ -778,6 +790,7 @@ class ModeGuided : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::GUIDED; }
bool init(bool ignore_checks) override;
void run() override;
@ -853,6 +866,7 @@ class ModeGuidedNoGPS : public ModeGuided {
public:
// inherit constructor
using ModeGuided::Mode;
Number mode_number() const override { return Number::GUIDED_NOGPS; }
bool init(bool ignore_checks) override;
void run() override;
@ -876,6 +890,7 @@ class ModeLand : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::LAND; }
bool init(bool ignore_checks) override;
void run() override;
@ -906,6 +921,7 @@ class ModeLoiter : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::LOITER; }
bool init(bool ignore_checks) override;
void run() override;
@ -947,6 +963,7 @@ class ModePosHold : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::POSHOLD; }
bool init(bool ignore_checks) override;
void run() override;
@ -1027,6 +1044,7 @@ class ModeRTL : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::RTL; }
bool init(bool ignore_checks) override;
void run() override {
@ -1136,6 +1154,7 @@ class ModeSmartRTL : public ModeRTL {
public:
// inherit constructor
using ModeRTL::Mode;
Number mode_number() const override { return Number::SMART_RTL; }
bool init(bool ignore_checks) override;
void run() override;
@ -1181,6 +1200,7 @@ class ModeSport : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::SPORT; }
bool init(bool ignore_checks) override;
void run() override;
@ -1208,6 +1228,7 @@ class ModeStabilize : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::STABILIZE; }
virtual void run() override;
@ -1246,6 +1267,7 @@ class ModeSystemId : public Mode {
public:
ModeSystemId(void);
Number mode_number() const override { return Number::SYSTEMID; }
bool init(bool ignore_checks) override;
void run() override;
@ -1313,6 +1335,7 @@ class ModeThrow : public Mode {
public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::THROW; }
bool init(bool ignore_checks) override;
void run() override;
@ -1369,6 +1392,7 @@ class ModeAvoidADSB : public ModeGuided {
public:
// inherit constructor
using ModeGuided::Mode;
Number mode_number() const override { return Number::AVOID_ADSB; }
bool init(bool ignore_checks) override;
void run() override;
@ -1395,6 +1419,7 @@ public:
// inherit constructor
using ModeGuided::Mode;
Number mode_number() const override { return Number::FOLLOW; }
bool init(bool ignore_checks) override;
void exit();
@ -1425,6 +1450,7 @@ public:
// Inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::ZIGZAG; }
enum class Destination : uint8_t {
A, // Destination A
@ -1517,6 +1543,7 @@ public:
// inherit constructor
using Mode::Mode;
Number mode_number() const override { return Number::AUTOROTATE; }
bool init(bool ignore_checks) override;
void run() override;