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Copter: move all of waypoint-takeoff into Mode namespace

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This commit is contained in:
Peter Barker 2018-06-26 13:24:54 +10:00 committed by Peter Barker
parent 11aeec6dd1
commit 22f7f29045
6 changed files with 12 additions and 11 deletions
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5
ArduCopter/Copter.h
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@ -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();

2
ArduCopter/mode.cpp
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@ -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)
{

4
ArduCopter/mode.h
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@ -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;

2
ArduCopter/mode_auto.cpp
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@ -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

4
ArduCopter/mode_guided.cpp
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@ -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

6
ArduCopter/takeoff.cpp
View File

@ -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();