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Copter: skeleton init call for all flight modes

This commit is contained in:
Randy Mackay 2013-12-16 18:03:12 +09:00 committed by Andrew Tridgell
parent 0431b7e1d4
commit 3a78263921
2 changed files with 85 additions and 13 deletions
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72
ArduCopter/control_stabilize.pde
View File

@ -1,5 +1,11 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// acro_init - initialise acro controller
static bool acro_init()
{
return true;
}
// acro_run - runs the acro controller
// should be called at 100hz or more
static void acro_run()
@ -32,6 +38,12 @@ static void acro_run()
// body-frame rate controller is run directly from 100hz loop
}
// stabilize_init - initialise stabilize controller
static bool stabilize_init()
{
return true;
}
// stabilize_run - runs the main stabilize controller
// should be called at 100hz or more
static void stabilize_run()
@ -88,12 +100,24 @@ static void stabilize_run()
// To-Do: add throttle control for stabilize mode here?
}
// althold_init - initialise althold controller
static bool althold_init()
{
return true;
}
// althold_run - runs the althold controller
// should be called at 100hz or more
static void althold_run()
{
}
// auto_init - initialise auto controller
static bool auto_init()
{
return true;
}
// auto_run - runs the auto controller
// should be called at 100hz or more
static void auto_run()
@ -127,24 +151,48 @@ static void auto_run()
// body-frame rate controller is run directly from 100hz loop
}
// circle_init - initialise circle controller
static bool circle_init()
{
return true;
}
// circle_run - runs the circle controller
// should be called at 100hz or more
static void circle_run()
{
}
// loiter_init - initialise loiter controller
static bool loiter_init()
{
return true;
}
// loiter_run - runs the loiter controller
// should be called at 100hz or more
static void loiter_run()
{
}
// guided_init - initialise guided controller
static bool guided_init()
{
return true;
}
// guided_run - runs the guided controller
// should be called at 100hz or more
static void guided_run()
{
}
// land_init - initialise land controller
static bool land_init()
{
return true;
}
// land_run - runs the land controller
// should be called at 100hz or more
static void land_run()
@ -152,6 +200,12 @@ static void land_run()
verify_land();
}
// rtl_init - initialise rtl controller
static bool rtl_init()
{
return true;
}
// rtl_run - runs the return-to-launch controller
// should be called at 100hz or more
static void rtl_run()
@ -159,18 +213,36 @@ static void rtl_run()
verify_RTL();
}
// ofloiter_init - initialise ofloiter controller
static bool ofloiter_init()
{
return true;
}
// ofloiter_run - runs the optical flow loiter controller
// should be called at 100hz or more
static void ofloiter_run()
{
}
// drift_init - initialise drift controller
static bool drift_init()
{
return true;
}
// drift_run - runs the drift controller
// should be called at 100hz or more
static void drift_run()
{
}
// sport_init - initialise sport controller
static bool sport_init()
{
return true;
}
// sport_run - runs the sport controller
// should be called at 100hz or more
static void sport_run()

26
ArduCopter/system.pde
View File

@ -384,7 +384,7 @@ static bool set_mode(uint8_t mode)
switch(mode) {
case ACRO:
success = true;
success = acro_init();
set_yaw_mode(ACRO_YAW);
set_roll_pitch_mode(ACRO_RP);
set_throttle_mode(ACRO_THR);
@ -392,7 +392,7 @@ static bool set_mode(uint8_t mode)
break;
case STABILIZE:
success = true;
success = stabilize_init();
set_yaw_mode(STABILIZE_YAW);
set_roll_pitch_mode(STABILIZE_RP);
set_throttle_mode(STABILIZE_THR);
@ -400,7 +400,7 @@ static bool set_mode(uint8_t mode)
break;
case ALT_HOLD:
success = true;
success = althold_init();
set_yaw_mode(ALT_HOLD_YAW);
set_roll_pitch_mode(ALT_HOLD_RP);
set_throttle_mode(ALT_HOLD_THR);
@ -410,15 +410,15 @@ static bool set_mode(uint8_t mode)
case AUTO:
// check we have a GPS and at least one mission command (note the home position is always command 0)
if ((GPS_ok() && g.command_total > 1) || ignore_checks) {
success = true;
success = auto_init();
// roll-pitch, throttle and yaw modes will all be set by the first nav command
init_commands(); // clear the command queues. will be reloaded when "run_autopilot" calls "update_commands" function
}
}
break;
case CIRCLE:
if (GPS_ok() || ignore_checks) {
success = true;
success = circle_init();
set_roll_pitch_mode(CIRCLE_RP);
set_throttle_mode(CIRCLE_THR);
set_nav_mode(CIRCLE_NAV);
@ -428,7 +428,7 @@ static bool set_mode(uint8_t mode)
case LOITER:
if (GPS_ok() || ignore_checks) {
success = true;
success = loiter_init();
set_yaw_mode(LOITER_YAW);
set_roll_pitch_mode(LOITER_RP);
set_throttle_mode(LOITER_THR);
@ -448,7 +448,7 @@ static bool set_mode(uint8_t mode)
case GUIDED:
if (GPS_ok() || ignore_checks) {
success = true;
success = guided_init();
set_yaw_mode(get_wp_yaw_mode(false));
set_roll_pitch_mode(GUIDED_RP);
set_throttle_mode(GUIDED_THR);
@ -457,20 +457,20 @@ static bool set_mode(uint8_t mode)
break;
case LAND:
success = true;
success = land_init();
do_land(NULL); // land at current location
break;
case RTL:
if (GPS_ok() || ignore_checks) {
success = true;
success = rtl_init();
do_RTL();
}
break;
case OF_LOITER:
if (g.optflow_enabled || ignore_checks) {
success = true;
success = ofloiter_init();
set_yaw_mode(OF_LOITER_YAW);
set_roll_pitch_mode(OF_LOITER_RP);
set_throttle_mode(OF_LOITER_THR);
@ -479,7 +479,7 @@ static bool set_mode(uint8_t mode)
break;
case DRIFT:
success = true;
success = drift_init();
set_yaw_mode(YAW_DRIFT);
set_roll_pitch_mode(ROLL_PITCH_DRIFT);
set_nav_mode(NAV_NONE);
@ -487,7 +487,7 @@ static bool set_mode(uint8_t mode)
break;
case SPORT:
success = true;
success = sport_init();
set_yaw_mode(SPORT_YAW);
set_roll_pitch_mode(SPORT_RP);
set_throttle_mode(SPORT_THR);