Copter: move all of waypoint-takeoff into Mode namespace

ArduCopter/Copter.h

@@ -365,8 +365,6 @@ private:
         uint8_t count;
         uint8_t ch_flag;
     } aux_debounce[(CH_12 - CH_7)+1];
-    // altitude below which we do no navigation in auto takeoff
-    float auto_takeoff_no_nav_alt_cm;
 
     RCMapper rcmap;
 
@@ -919,9 +917,6 @@ private:
     const char* get_frame_string();
     void allocate_motors(void);
 
-    void auto_takeoff_set_start_alt(void);
-    void auto_takeoff_attitude_run(float target_yaw_rate);
-
     // terrain.cpp
     void terrain_update();
     void terrain_logging();

ArduCopter/mode.cpp

@@ -31,6 +31,8 @@ Copter::Mode::Mode(void) :
     ekfNavVelGainScaler(copter.ekfNavVelGainScaler)
 { };
 
+float Copter::Mode::auto_takeoff_no_nav_alt_cm = 0;
+
 // return the static controller object corresponding to supplied mode
 Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
 {

ArduCopter/mode.h

@@ -160,6 +160,10 @@ protected:
     // method shared by both Guided and Auto for takeoff.  This is
     // waypoint navigation but the user can control the yaw.
     void auto_takeoff_run();
+    void auto_takeoff_set_start_alt(void);
+    void auto_takeoff_attitude_run(float target_yaw_rate);
+    // altitude below which we do no navigation in auto takeoff
+    static float auto_takeoff_no_nav_alt_cm;
 
     // gnd speed limit required to observe optical flow sensor limits
     float &ekfGndSpdLimit;

ArduCopter/mode_auto.cpp

@@ -176,7 +176,7 @@ void Copter::ModeAuto::takeoff_start(const Location& dest_loc)
     set_throttle_takeoff();
 
     // get initial alt for WP_NAVALT_MIN
-    copter.auto_takeoff_set_start_alt();
+    auto_takeoff_set_start_alt();
 }
 
 // auto_wp_start - initialises waypoint controller to implement flying to a particular destination

ArduCopter/mode_guided.cpp

@@ -71,7 +71,7 @@ bool Copter::ModeGuided::do_user_takeoff_start(float final_alt_above_home)
     set_throttle_takeoff();
 
     // get initial alt for WP_NAVALT_MIN
-    copter.auto_takeoff_set_start_alt();
+    auto_takeoff_set_start_alt();
 
     return true;
 }
@@ -409,7 +409,7 @@ void Copter::Mode::auto_takeoff_run()
     copter.pos_control->update_z_controller();
 
     // call attitude controller
-    copter.auto_takeoff_attitude_run(target_yaw_rate);
+    auto_takeoff_attitude_run(target_yaw_rate);
 }
 
 // guided_pos_control_run - runs the guided position controller

ArduCopter/takeoff.cpp

@@ -135,7 +135,7 @@ void Copter::Mode::_TakeOff::get_climb_rates(float& pilot_climb_rate,
     }
 }
 
-void Copter::auto_takeoff_set_start_alt(void)
+void Copter::Mode::auto_takeoff_set_start_alt(void)
 {
     // start with our current altitude
     auto_takeoff_no_nav_alt_cm = inertial_nav.get_altitude();
@@ -151,7 +151,7 @@ void Copter::auto_takeoff_set_start_alt(void)
   call attitude controller for automatic takeoff, limiting roll/pitch
   if below wp_navalt_min
  */
-void Copter::auto_takeoff_attitude_run(float target_yaw_rate)
+void Copter::Mode::auto_takeoff_attitude_run(float target_yaw_rate)
 {
     float nav_roll, nav_pitch;
     
@@ -161,7 +161,7 @@ void Copter::auto_takeoff_attitude_run(float target_yaw_rate)
         nav_pitch = 0;
 #if FRAME_CONFIG == HELI_FRAME
         // prevent hover roll starting till past specified altitude
-        hover_roll_trim_scalar_slew = 0;        
+        copter.hover_roll_trim_scalar_slew = 0;        
 #endif
         // tell the position controller that we have limited roll/pitch demand to prevent integrator buildup
         pos_control->set_limit_accel_xy();