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Copter: rename flightmode_ objects to mode_

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This commit is contained in:
Randy Mackay 2017-12-11 14:43:27 +09:00
parent c3fbf2671c
commit 2d23e1f7c7
16 changed files with 109 additions and 109 deletions
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2
ArduCopter/ArduCopter.cpp
View File

@ -537,7 +537,7 @@ void Copter::update_GPS(void)
void Copter::smart_rtl_save_position()
{
flightmode_smartrtl.save_position();
mode_smartrtl.save_position();
}
void Copter::init_simple_bearing()

2
ArduCopter/Copter.cpp
View File

@ -57,7 +57,7 @@ Copter::Copter(void)
auto_trim_counter(0),
in_mavlink_delay(false),
param_loader(var_info),
flightmode(&flightmode_stabilize)
flightmode(&mode_stabilize)
{
memset(&current_loc, 0, sizeof(current_loc));

44
ArduCopter/Copter.h
View File

@ -946,54 +946,54 @@ private:
Copter::Mode *flightmode;
#if FRAME_CONFIG == HELI_FRAME
Copter::ModeAcro_Heli flightmode_acro{*this};
Copter::ModeAcro_Heli mode_acro{*this};
#else
Copter::ModeAcro flightmode_acro{*this};
Copter::ModeAcro mode_acro{*this};
#endif
Copter::ModeAltHold flightmode_althold{*this};
Copter::ModeAltHold mode_althold{*this};
Copter::ModeAuto flightmode_auto{*this, mission, circle_nav};
Copter::ModeAuto mode_auto{*this, mission, circle_nav};
#if AUTOTUNE_ENABLED == ENABLED
Copter::ModeAutoTune flightmode_autotune{*this};
Copter::ModeAutoTune mode_autotune{*this};
#endif
Copter::ModeBrake flightmode_brake{*this};
Copter::ModeBrake mode_brake{*this};
Copter::ModeCircle flightmode_circle{*this, circle_nav};
Copter::ModeCircle mode_circle{*this, circle_nav};
Copter::ModeDrift flightmode_drift{*this};
Copter::ModeDrift mode_drift{*this};
Copter::ModeFlip flightmode_flip{*this};
Copter::ModeFlip mode_flip{*this};
Copter::ModeGuided flightmode_guided{*this};
Copter::ModeGuided mode_guided{*this};
Copter::ModeLand flightmode_land{*this};
Copter::ModeLand mode_land{*this};
Copter::ModeLoiter flightmode_loiter{*this};
Copter::ModeLoiter mode_loiter{*this};
Copter::ModePosHold flightmode_poshold{*this};
Copter::ModePosHold mode_poshold{*this};
Copter::ModeRTL flightmode_rtl{*this};
Copter::ModeRTL mode_rtl{*this};
#if FRAME_CONFIG == HELI_FRAME
Copter::ModeStabilize_Heli flightmode_stabilize{*this};
Copter::ModeStabilize_Heli mode_stabilize{*this};
#else
Copter::ModeStabilize flightmode_stabilize{*this};
Copter::ModeStabilize mode_stabilize{*this};
#endif
Copter::ModeSport flightmode_sport{*this};
Copter::ModeSport mode_sport{*this};
Copter::ModeAvoidADSB flightmode_avoid_adsb{*this};
Copter::ModeAvoidADSB mode_avoid_adsb{*this};
Copter::ModeThrow flightmode_throw{*this};
Copter::ModeThrow mode_throw{*this};
Copter::ModeGuidedNoGPS flightmode_guided_nogps{*this};
Copter::ModeGuidedNoGPS mode_guided_nogps{*this};
Copter::ModeSmartRTL flightmode_smartrtl{*this};
Copter::ModeSmartRTL mode_smartrtl{*this};
Copter::Mode *flightmode_for_mode(const uint8_t mode);
Copter::Mode *mode_from_mode_num(const uint8_t mode);
void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode);

22
ArduCopter/GCS_Mavlink.cpp
View File

@ -1291,7 +1291,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
if (!shot_mode) {
if (copter.set_mode(BRAKE, MODE_REASON_GCS_COMMAND)) {
copter.flightmode_brake.timeout_to_loiter_ms(2500);
copter.mode_brake.timeout_to_loiter_ms(2500);
} else {
copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND);
}
@ -1335,7 +1335,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
mavlink_msg_set_attitude_target_decode(msg, &packet);
// exit if vehicle is not in Guided mode or Auto-Guided mode
if ((copter.control_mode != GUIDED) && (copter.control_mode != GUIDED_NOGPS) && !(copter.control_mode == AUTO && copter.flightmode_auto.mode() == Auto_NavGuided)) {
if ((copter.control_mode != GUIDED) && (copter.control_mode != GUIDED_NOGPS) && !(copter.control_mode == AUTO && copter.mode_auto.mode() == Auto_NavGuided)) {
break;
}
@ -1364,7 +1364,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
use_yaw_rate = true;
}
copter.flightmode_guided.set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]),
copter.mode_guided.set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]),
climb_rate_cms, use_yaw_rate, packet.body_yaw_rate);
break;
@ -1377,7 +1377,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
mavlink_msg_set_position_target_local_ned_decode(msg, &packet);
// exit if vehicle is not in Guided mode or Auto-Guided mode
if ((copter.control_mode != GUIDED) && !(copter.control_mode == AUTO && copter.flightmode_auto.mode() == Auto_NavGuided)) {
if ((copter.control_mode != GUIDED) && !(copter.control_mode == AUTO && copter.mode_auto.mode() == Auto_NavGuided)) {
break;
}
@ -1446,16 +1446,16 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
// send request
if (!pos_ignore && !vel_ignore && acc_ignore) {
if (copter.flightmode_guided.set_destination_posvel(pos_vector, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
if (copter.mode_guided.set_destination_posvel(pos_vector, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (pos_ignore && !vel_ignore && acc_ignore) {
copter.flightmode_guided.set_velocity(vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
copter.mode_guided.set_velocity(vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
result = MAV_RESULT_ACCEPTED;
} else if (!pos_ignore && vel_ignore && acc_ignore) {
if (copter.flightmode_guided.set_destination(pos_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
if (copter.mode_guided.set_destination(pos_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
@ -1474,7 +1474,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
mavlink_msg_set_position_target_global_int_decode(msg, &packet);
// exit if vehicle is not in Guided mode or Auto-Guided mode
if ((copter.control_mode != GUIDED) && !(copter.control_mode == AUTO && copter.flightmode_auto.mode() == Auto_NavGuided)) {
if ((copter.control_mode != GUIDED) && !(copter.control_mode == AUTO && copter.mode_auto.mode() == Auto_NavGuided)) {
break;
}
@ -1548,16 +1548,16 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
}
if (!pos_ignore && !vel_ignore && acc_ignore) {
if (copter.flightmode_guided.set_destination_posvel(pos_neu_cm, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
if (copter.mode_guided.set_destination_posvel(pos_neu_cm, Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (pos_ignore && !vel_ignore && acc_ignore) {
copter.flightmode_guided.set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
copter.mode_guided.set_velocity(Vector3f(packet.vx * 100.0f, packet.vy * 100.0f, -packet.vz * 100.0f), !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
result = MAV_RESULT_ACCEPTED;
} else if (!pos_ignore && vel_ignore && acc_ignore) {
if (copter.flightmode_guided.set_destination(pos_neu_cm, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
if (copter.mode_guided.set_destination(pos_neu_cm, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;

6
ArduCopter/avoidance_adsb.cpp
View File

@ -182,7 +182,7 @@ bool AP_Avoidance_Copter::handle_avoidance_vertical(const AP_Avoidance::Obstacle
}
// send target velocity
copter.flightmode_avoid_adsb.set_velocity(velocity_neu);
copter.mode_avoid_adsb.set_velocity(velocity_neu);
return true;
}
@ -208,7 +208,7 @@ bool AP_Avoidance_Copter::handle_avoidance_horizontal(const AP_Avoidance::Obstac
velocity_neu.x *= copter.wp_nav->get_speed_xy();
velocity_neu.y *= copter.wp_nav->get_speed_xy();
// send target velocity
copter.flightmode_avoid_adsb.set_velocity(velocity_neu);
copter.mode_avoid_adsb.set_velocity(velocity_neu);
return true;
}
@ -240,7 +240,7 @@ bool AP_Avoidance_Copter::handle_avoidance_perpendicular(const AP_Avoidance::Obs
}
}
// send target velocity
copter.flightmode_avoid_adsb.set_velocity(velocity_neu);
copter.mode_avoid_adsb.set_velocity(velocity_neu);
return true;
}

44
ArduCopter/commands_logic.cpp
View File

@ -292,7 +292,7 @@ void Copter::exit_mission()
// if we are not on the ground switch to loiter or land
if(!ap.land_complete) {
// try to enter loiter but if that fails land
if(!flightmode_auto.loiter_start()) {
if(!mode_auto.loiter_start()) {
set_mode(LAND, MODE_REASON_MISSION_END);
}
}else{
@ -309,7 +309,7 @@ void Copter::exit_mission()
void Copter::do_RTL(void)
{
// start rtl in auto flight mode
flightmode_auto.rtl_start();
mode_auto.rtl_start();
}
/********************************************************************************/
@ -320,7 +320,7 @@ void Copter::do_RTL(void)
void Copter::do_takeoff(const AP_Mission::Mission_Command& cmd)
{
// Set wp navigation target to safe altitude above current position
flightmode_auto.takeoff_start(cmd.content.location);
mode_auto.takeoff_start(cmd.content.location);
}
// do_nav_wp - initiate move to next waypoint
@ -350,7 +350,7 @@ void Copter::do_nav_wp(const AP_Mission::Mission_Command& cmd)
loiter_time_max = cmd.p1;
// Set wp navigation target
flightmode_auto.wp_start(target_loc);
mode_auto.wp_start(target_loc);
// if no delay set the waypoint as "fast"
if (loiter_time_max == 0 ) {
@ -391,13 +391,13 @@ void Copter::do_land(const AP_Mission::Mission_Command& cmd)
Location_Class target_loc = terrain_adjusted_location(cmd);
flightmode_auto.wp_start(target_loc);
mode_auto.wp_start(target_loc);
}else{
// set landing state
land_state = LandStateType_Descending;
// initialise landing controller
flightmode_auto.land_start();
mode_auto.land_start();
}
}
@ -411,12 +411,12 @@ void Copter::do_payload_place(const AP_Mission::Mission_Command& cmd)
Location_Class target_loc = terrain_adjusted_location(cmd);
flightmode_auto.wp_start(target_loc);
mode_auto.wp_start(target_loc);
} else {
nav_payload_place.state = PayloadPlaceStateType_Calibrating_Hover_Start;
// initialise placing controller
flightmode_auto.payload_place_start();
mode_auto.payload_place_start();
}
nav_payload_place.descend_max = cmd.p1;
}
@ -452,7 +452,7 @@ void Copter::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
}
// start way point navigator and provide it the desired location
flightmode_auto.wp_start(target_loc);
mode_auto.wp_start(target_loc);
}
// do_circle - initiate moving in a circle
@ -484,7 +484,7 @@ void Copter::do_circle(const AP_Mission::Mission_Command& cmd)
uint8_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1
// move to edge of circle (verify_circle) will ensure we begin circling once we reach the edge
flightmode_auto.circle_movetoedge_start(circle_center, circle_radius_m);
mode_auto.circle_movetoedge_start(circle_center, circle_radius_m);
}
// do_loiter_time - initiate loitering at a point for a given time period
@ -569,7 +569,7 @@ void Copter::do_spline_wp(const AP_Mission::Mission_Command& cmd)
}
// set spline navigation target
flightmode_auto.spline_start(target_loc, stopped_at_start, seg_end_type, next_loc);
mode_auto.spline_start(target_loc, stopped_at_start, seg_end_type, next_loc);
}
#if NAV_GUIDED == ENABLED
@ -578,10 +578,10 @@ void Copter::do_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
{
if (cmd.p1 > 0) {
// initialise guided limits
flightmode_guided.limit_init_time_and_pos();
mode_guided.limit_init_time_and_pos();
// set spline navigation target
flightmode_auto.nav_guided_start();
mode_auto.nav_guided_start();
}
}
#endif // NAV_GUIDED
@ -649,7 +649,7 @@ void Copter::do_gripper(const AP_Mission::Mission_Command& cmd)
// do_guided_limits - pass guided limits to guided controller
void Copter::do_guided_limits(const AP_Mission::Mission_Command& cmd)
{
flightmode_guided.limit_set(cmd.p1 * 1000, // convert seconds to ms
mode_guided.limit_set(cmd.p1 * 1000, // convert seconds to ms
cmd.content.guided_limits.alt_min * 100.0f, // convert meters to cm
cmd.content.guided_limits.alt_max * 100.0f, // convert meters to cm
cmd.content.guided_limits.horiz_max * 100.0f); // convert meters to cm
@ -703,7 +703,7 @@ bool Copter::verify_land()
Vector3f dest = wp_nav->get_wp_destination();
// initialise landing controller
flightmode_auto.land_start(dest);
mode_auto.land_start(dest);
// advance to next state
land_state = LandStateType_Descending;
@ -866,7 +866,7 @@ bool Copter::verify_payload_place()
case PayloadPlaceStateType_Ascending_Start: {
Location_Class target_loc = inertial_nav.get_position();
target_loc.alt = nav_payload_place.descend_start_altitude;
flightmode_auto.wp_start(target_loc);
mode_auto.wp_start(target_loc);
nav_payload_place.state = PayloadPlaceStateType_Ascending;
}
FALLTHROUGH;
@ -939,7 +939,7 @@ bool Copter::verify_loiter_time()
bool Copter::verify_circle(const AP_Mission::Mission_Command& cmd)
{
// check if we've reached the edge
if (flightmode_auto.mode() == Auto_CircleMoveToEdge) {
if (mode_auto.mode() == Auto_CircleMoveToEdge) {
if (wp_nav->reached_wp_destination()) {
Vector3f curr_pos = inertial_nav.get_position();
Vector3f circle_center = pv_location_to_vector(cmd.content.location);
@ -956,7 +956,7 @@ bool Copter::verify_circle(const AP_Mission::Mission_Command& cmd)
}
// start circling
flightmode_auto.circle_start();
mode_auto.circle_start();
}
return false;
}
@ -970,7 +970,7 @@ bool Copter::verify_circle(const AP_Mission::Mission_Command& cmd)
// returns true with RTL has completed successfully
bool Copter::verify_RTL()
{
return (flightmode_rtl.state_complete() && (flightmode_rtl.state() == RTL_FinalDescent || flightmode_rtl.state() == RTL_Land));
return (mode_rtl.state_complete() && (mode_rtl.state() == RTL_FinalDescent || mode_rtl.state() == RTL_Land));
}
// verify_spline_wp - check if we have reached the next way point using spline
@ -1005,7 +1005,7 @@ bool Copter::verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd)
}
// check time and position limits
return flightmode_guided.limit_check();
return mode_guided.limit_check();
}
#endif // NAV_GUIDED
@ -1091,7 +1091,7 @@ bool Copter::verify_yaw()
bool Copter::do_guided(const AP_Mission::Mission_Command& cmd)
{
// only process guided waypoint if we are in guided mode
if (control_mode != GUIDED && !(control_mode == AUTO && flightmode_auto.mode() == Auto_NavGuided)) {
if (control_mode != GUIDED && !(control_mode == AUTO && mode_auto.mode() == Auto_NavGuided)) {
return false;
}
@ -1102,7 +1102,7 @@ bool Copter::do_guided(const AP_Mission::Mission_Command& cmd)
{
// set wp_nav's destination
Location_Class dest(cmd.content.location);
return flightmode_guided.set_destination(dest);
return mode_guided.set_destination(dest);
}
case MAV_CMD_CONDITION_YAW:

2
ArduCopter/ekf_check.cpp
View File

@ -175,7 +175,7 @@ void Copter::failsafe_ekf_event()
// if flight mode is already LAND ensure it's not the GPS controlled LAND
if (control_mode == LAND) {
flightmode_land.do_not_use_GPS();
mode_land.do_not_use_GPS();
}
}

2
ArduCopter/events.cpp
View File

@ -178,7 +178,7 @@ void Copter::failsafe_terrain_on_event()
if (should_disarm_on_failsafe()) {
init_disarm_motors();
} else if (control_mode == RTL) {
flightmode_rtl.restart_without_terrain();
mode_rtl.restart_without_terrain();
} else {
set_mode_RTL_or_land_with_pause(MODE_REASON_TERRAIN_FAILSAFE);
}

58
ArduCopter/flight_mode.cpp
View File

@ -6,87 +6,87 @@
*/
// return the static controller object corresponding to supplied mode
Copter::Mode *Copter::flightmode_for_mode(const uint8_t mode)
Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
{
Copter::Mode *ret = nullptr;
switch (mode) {
case ACRO:
ret = &flightmode_acro;
ret = &mode_acro;
break;
case STABILIZE:
ret = &flightmode_stabilize;
ret = &mode_stabilize;
break;
case ALT_HOLD:
ret = &flightmode_althold;
ret = &mode_althold;
break;
case AUTO:
ret = &flightmode_auto;
ret = &mode_auto;
break;
case CIRCLE:
ret = &flightmode_circle;
ret = &mode_circle;
break;
case LOITER:
ret = &flightmode_loiter;
ret = &mode_loiter;
break;
case GUIDED:
ret = &flightmode_guided;
ret = &mode_guided;
break;
case LAND:
ret = &flightmode_land;
ret = &mode_land;
break;
case RTL:
ret = &flightmode_rtl;
ret = &mode_rtl;
break;
case DRIFT:
ret = &flightmode_drift;
ret = &mode_drift;
break;
case SPORT:
ret = &flightmode_sport;
ret = &mode_sport;
break;
case FLIP:
ret = &flightmode_flip;
ret = &mode_flip;
break;
#if AUTOTUNE_ENABLED == ENABLED
case AUTOTUNE:
ret = &flightmode_autotune;
ret = &mode_autotune;
break;
#endif
case POSHOLD:
ret = &flightmode_poshold;
ret = &mode_poshold;
break;
case BRAKE:
ret = &flightmode_brake;
ret = &mode_brake;
break;
case THROW:
ret = &flightmode_throw;
ret = &mode_throw;
break;
case AVOID_ADSB:
ret = &flightmode_avoid_adsb;
ret = &mode_avoid_adsb;
break;
case GUIDED_NOGPS:
ret = &flightmode_guided_nogps;
ret = &mode_guided_nogps;
break;
case SMART_RTL:
ret = &flightmode_smartrtl;
ret = &mode_smartrtl;
break;
default:
@ -110,7 +110,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
return true;
}
Copter::Mode *new_flightmode = flightmode_for_mode(mode);
Copter::Mode *new_flightmode = mode_from_mode_num(mode);
if (new_flightmode == nullptr) {
gcs().send_text(MAV_SEVERITY_WARNING,"No such mode");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
@ -180,13 +180,13 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
Copter::Mode *&new_flightmode)
{
#if AUTOTUNE_ENABLED == ENABLED
if (old_flightmode == &flightmode_autotune) {
flightmode_autotune.stop();
if (old_flightmode == &mode_autotune) {
mode_autotune.stop();
}
#endif
// stop mission when we leave auto mode
if (old_flightmode == &flightmode_auto) {
if (old_flightmode == &mode_auto) {
if (mission.state() == AP_Mission::MISSION_RUNNING) {
mission.stop();
}
@ -205,13 +205,13 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
takeoff_stop();
// call smart_rtl cleanup
if (old_flightmode == &flightmode_smartrtl) {
flightmode_smartrtl.exit();
if (old_flightmode == &mode_smartrtl) {
mode_smartrtl.exit();
}
#if FRAME_CONFIG == HELI_FRAME
// firmly reset the flybar passthrough to false when exiting acro mode.
if (old_flightmode == &flightmode_acro) {
if (old_flightmode == &mode_acro) {
attitude_control->use_flybar_passthrough(false, false);
motors->set_acro_tail(false);
}
@ -220,9 +220,9 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
// stab col ramp value should be pre-loaded to the correct value to avoid a twitch
// heli_stab_col_ramp should really only be active switching between Stabilize and Acro modes
if (!old_flightmode->has_manual_throttle()){
if (new_flightmode == &flightmode_stabilize){
if (new_flightmode == &mode_stabilize){
input_manager.set_stab_col_ramp(1.0);
} else if (new_flightmode == &flightmode_acro){
} else if (new_flightmode == &mode_acro){
input_manager.set_stab_col_ramp(0.0);
}
}

6
ArduCopter/heli.cpp
View File

@ -24,7 +24,7 @@ void Copter::heli_init()
void Copter::check_dynamic_flight(void)
{
if (!motors->armed() || !motors->rotor_runup_complete() ||
control_mode == LAND || (control_mode==RTL && flightmode_rtl.state() == RTL_Land) || (control_mode == AUTO && flightmode_auto.mode() == Auto_Land)) {
control_mode == LAND || (control_mode==RTL && mode_rtl.state() == RTL_Land) || (control_mode == AUTO && mode_auto.mode() == Auto_Land)) {
heli_dynamic_flight_counter = 0;
heli_flags.dynamic_flight = false;
return;
@ -109,7 +109,7 @@ void Copter::heli_update_landing_swash()
case RTL:
case SMART_RTL:
if (flightmode_rtl.state() == RTL_Land) {
if (mode_rtl.state() == RTL_Land) {
motors->set_collective_for_landing(true);
}else{
motors->set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);
@ -117,7 +117,7 @@ void Copter::heli_update_landing_swash()
break;
case AUTO:
if (flightmode_auto.mode() == Auto_Land) {
if (mode_auto.mode() == Auto_Land) {
motors->set_collective_for_landing(true);
}else{
motors->set_collective_for_landing(!heli_flags.dynamic_flight || ap.land_complete || !ap.auto_armed);

4
ArduCopter/landing_gear.cpp
View File

@ -15,8 +15,8 @@ void Copter::landinggear_update()
// if we are doing an automatic landing procedure, force the landing gear to deploy.
// To-Do: should we pause the auto-land procedure to give time for gear to come down?
if (control_mode == LAND ||
(control_mode == RTL && flightmode_rtl.landing_gear_should_be_deployed()) ||
(control_mode == AUTO && flightmode_auto.landing_gear_should_be_deployed())) {
(control_mode == RTL && mode_rtl.landing_gear_should_be_deployed()) ||
(control_mode == AUTO && mode_auto.landing_gear_should_be_deployed())) {
landinggear.set_position(AP_LandingGear::LandingGear_Deploy_And_Keep_Deployed);
}

14
ArduCopter/mode_auto.cpp
View File

@ -39,7 +39,7 @@ bool Copter::ModeAuto::init(bool ignore_checks)
wp_nav->wp_and_spline_init();
// clear guided limits
_copter.flightmode_guided.limit_clear();
_copter.mode_guided.limit_clear();
// start/resume the mission (based on MIS_RESTART parameter)
mission.start_or_resume();
@ -417,7 +417,7 @@ bool Copter::ModeAuto::landing_gear_should_be_deployed()
case Auto_Land:
return true;
case Auto_RTL:
switch(_copter.flightmode_rtl.state()) {
switch(_copter.mode_rtl.state()) {
case RTL_LoiterAtHome:
case RTL_Land:
case RTL_FinalDescent:
@ -438,7 +438,7 @@ void Copter::ModeAuto::rtl_start()
_mode = Auto_RTL;
// call regular rtl flight mode initialisation and ask it to ignore checks
_copter.flightmode_rtl.init(true);
_copter.mode_rtl.init(true);
}
// auto_rtl_run - rtl in AUTO flight mode
@ -446,7 +446,7 @@ void Copter::ModeAuto::rtl_start()
void Copter::ModeAuto::rtl_run()
{
// call regular rtl flight mode run function
_copter.flightmode_rtl.run(false);
_copter.mode_rtl.run(false);
}
// auto_circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location
@ -534,10 +534,10 @@ void Copter::ModeAuto::nav_guided_start()
_mode = Auto_NavGuided;
// call regular guided flight mode initialisation
_copter.flightmode_guided.init(true);
_copter.mode_guided.init(true);
// initialise guided start time and position as reference for limit checking
_copter.flightmode_guided.limit_init_time_and_pos();
_copter.mode_guided.limit_init_time_and_pos();
}
// auto_nav_guided_run - allows control by external navigation controller
@ -545,7 +545,7 @@ void Copter::ModeAuto::nav_guided_start()
void Copter::ModeAuto::nav_guided_run()
{
// call regular guided flight mode run function
_copter.flightmode_guided.run();
_copter.mode_guided.run();
}
#endif // NAV_GUIDED

4
ArduCopter/mode_land.cpp
View File

@ -177,7 +177,7 @@ void Copter::land_run_vertical_control(bool pause_descent)
// compute desired velocity
const float precland_acceptable_error = 15.0f;
const float precland_min_descent_speed = 10.0f;
int32_t alt_above_ground = flightmode_land.get_alt_above_ground();
int32_t alt_above_ground = mode_land.get_alt_above_ground();
float cmb_rate = 0;
if (!pause_descent) {
@ -281,7 +281,7 @@ void Copter::land_run_horizontal_control()
// there is any position estimate drift after touchdown. We
// limit attitude to 7 degrees below this limit and linearly
// interpolate for 1m above that
int alt_above_ground = flightmode_land.get_alt_above_ground();
int alt_above_ground = mode_land.get_alt_above_ground();
float attitude_limit_cd = linear_interpolate(700, aparm.angle_max, alt_above_ground,
g2.wp_navalt_min*100U, (g2.wp_navalt_min+1)*100U);
float total_angle_cd = norm(nav_roll, nav_pitch);

2
ArduCopter/motors.cpp
View File

@ -246,7 +246,7 @@ void Copter::init_disarm_motors()
#if AUTOTUNE_ENABLED == ENABLED
// save auto tuned parameters
flightmode_autotune.save_tuning_gains();
mode_autotune.save_tuning_gains();
#endif
// we are not in the air

4
ArduCopter/switches.cpp
View File

@ -562,10 +562,10 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
#if PRECISION_LANDING == ENABLED
switch (ch_flag) {
case AUX_SWITCH_HIGH:
flightmode_loiter.set_precision_loiter_enabled(true);
mode_loiter.set_precision_loiter_enabled(true);
break;
case AUX_SWITCH_LOW:
flightmode_loiter.set_precision_loiter_enabled(false);
mode_loiter.set_precision_loiter_enabled(false);
break;
}
#endif

2
ArduCopter/takeoff.cpp
View File

@ -36,7 +36,7 @@ bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
switch(control_mode) {
case GUIDED:
if (flightmode_guided.takeoff_start(takeoff_alt_cm)) {
if (mode_guided.takeoff_start(takeoff_alt_cm)) {
set_auto_armed(true);
return true;
}