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Copter: complete rename to SmartRTL 

Also fix parameter description for CH7_OPT
This commit is contained in:
Randy Mackay 2017-09-14 22:21:33 +09:00
parent 6d15a72f3a
commit 44a436642b
9 changed files with 32 additions and 32 deletions
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2
ArduCopter/ArduCopter.cpp
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@ -64,7 +64,7 @@
* Roberto Navoni :Library testing, Porting to VRBrain
* Sandro Benigno :Camera support, MinimOSD
* Sandro Tognana :PosHold flight mode
* Sebastian Quilter :SafeRTL
* Sebastian Quilter :SmartRTL
* ..and many more.
*
* Code commit statistics can be found here: https://github.com/ArduPilot/ardupilot/graphs/contributors

2
ArduCopter/Copter.cpp
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@ -37,7 +37,7 @@ Copter::Copter(void) :
guided_mode(Guided_TakeOff),
rtl_state(RTL_InitialClimb),
rtl_state_complete(false),
smart_rtl_state(SafeRTL_PathFollow),
smart_rtl_state(SmartRTL_PathFollow),
circle_pilot_yaw_override(false),
simple_cos_yaw(1.0f),
simple_sin_yaw(0.0f),

4
ArduCopter/Copter.h
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@ -414,8 +414,8 @@ private:
bool terrain_used;
} rtl_path;
// SafeRTL
SafeRTLState smart_rtl_state; // records state of SafeRTL
// SmartRTL
SmartRTLState smart_rtl_state; // records state of SmartRTL
// Circle
bool circle_pilot_yaw_override; // true if pilot is overriding yaw

12
ArduCopter/Parameters.cpp
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@ -389,42 +389,42 @@ const AP_Param::Info Copter::var_info[] = {
// @Param: CH7_OPT
// @DisplayName: Channel 7 option
// @Description: Select which function is performed when CH7 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 52:SafeRTL
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL
// @User: Standard
GSCALAR(ch7_option, "CH7_OPT", AUXSW_DO_NOTHING),
// @Param: CH8_OPT
// @DisplayName: Channel 8 option
// @Description: Select which function is performed when CH8 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 52:SafeRTL
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL
// @User: Standard
GSCALAR(ch8_option, "CH8_OPT", AUXSW_DO_NOTHING),
// @Param: CH9_OPT
// @DisplayName: Channel 9 option
// @Description: Select which function is performed when CH9 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 52:SafeRTL
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL
// @User: Standard
GSCALAR(ch9_option, "CH9_OPT", AUXSW_DO_NOTHING),
// @Param: CH10_OPT
// @DisplayName: Channel 10 option
// @Description: Select which function is performed when CH10 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 52:SafeRTL
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL
// @User: Standard
GSCALAR(ch10_option, "CH10_OPT", AUXSW_DO_NOTHING),
// @Param: CH11_OPT
// @DisplayName: Channel 11 option
// @Description: Select which function is performed when CH11 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 52:SafeRTL
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL
// @User: Standard
GSCALAR(ch11_option, "CH11_OPT", AUXSW_DO_NOTHING),
// @Param: CH12_OPT
// @DisplayName: Channel 12 option
// @Description: Select which function is performed when CH12 is above 1800 pwm
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 52:SafeRTL
// @Values: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount, 28:Relay On/Off, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 37:Throw, 38:ADSB-Avoidance, 39:PrecLoiter, 40:Object Avoidance, 41:ArmDisarm, 42:SmartRTL
// @User: Standard
GSCALAR(ch12_option, "CH12_OPT", AUXSW_DO_NOTHING),

24
ArduCopter/control_safe_rtl.cpp
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@ -3,7 +3,7 @@
/*
* Init and run calls for Smart_RTL flight mode
*
* This code uses the SafeRTL path that is already in memory, and feeds it into WPNav, one point at a time.
* This code uses the SmartRTL path that is already in memory, and feeds it into WPNav, one point at a time.
* Once the copter is close to home, it will run a standard land controller.
*/
@ -23,7 +23,7 @@ bool Copter::smart_rtl_init(bool ignore_checks)
set_auto_yaw_mode(get_default_auto_yaw_mode(true));
// wait for cleanup of return path
smart_rtl_state = SafeRTL_WaitForPathCleanup;
smart_rtl_state = SmartRTL_WaitForPathCleanup;
return true;
}
@ -39,19 +39,19 @@ void Copter::smart_rtl_exit()
void Copter::smart_rtl_run()
{
switch (smart_rtl_state) {
case SafeRTL_WaitForPathCleanup:
case SmartRTL_WaitForPathCleanup:
smart_rtl_wait_cleanup_run();
break;
case SafeRTL_PathFollow:
case SmartRTL_PathFollow:
smart_rtl_path_follow_run();
break;
case SafeRTL_PreLandPosition:
case SmartRTL_PreLandPosition:
smart_rtl_pre_land_position_run();
break;
case SafeRTL_Descend:
case SmartRTL_Descend:
rtl_descent_run(); // Re-using the descend method from normal rtl mode.
break;
case SafeRTL_Land:
case SmartRTL_Land:
rtl_land_run(); // Re-using the land method from normal rtl mode.
break;
}
@ -67,7 +67,7 @@ void Copter::smart_rtl_wait_cleanup_run()
// check if return path is computed and if yes, begin journey home
if (g2.smart_rtl.request_thorough_cleanup()) {
smart_rtl_state = SafeRTL_PathFollow;
smart_rtl_state = SmartRTL_PathFollow;
}
}
@ -81,7 +81,7 @@ void Copter::smart_rtl_path_follow_run()
if (g2.smart_rtl.get_num_points() == 0) {
// this is the very last point, add 2m to the target alt and move to pre-land state
next_point.z -= 2.0f;
smart_rtl_state = SafeRTL_PreLandPosition;
smart_rtl_state = SmartRTL_PreLandPosition;
fast_waypoint = false;
}
// send target to waypoint controller
@ -89,7 +89,7 @@ void Copter::smart_rtl_path_follow_run()
wp_nav->set_fast_waypoint(fast_waypoint);
} else {
// this can only happen if we fail to get the semaphore which should never happen but just in case, land
smart_rtl_state = SafeRTL_PreLandPosition;
smart_rtl_state = SmartRTL_PreLandPosition;
}
}
@ -115,11 +115,11 @@ void Copter::smart_rtl_pre_land_position_run()
// choose descend and hold, or land based on user parameter rtl_alt_final
if (g.rtl_alt_final <= 0 || failsafe.radio) {
rtl_land_start();
smart_rtl_state = SafeRTL_Land;
smart_rtl_state = SmartRTL_Land;
} else {
rtl_path.descent_target.alt = g.rtl_alt_final;
rtl_descent_start();
smart_rtl_state = SafeRTL_Descend;
smart_rtl_state = SmartRTL_Descend;
}
}

14
ArduCopter/defines.h
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@ -70,7 +70,7 @@ enum aux_sw_func {
AUXSW_PRECISION_LOITER = 39, // enable precision loiter
AUXSW_AVOID_PROXIMITY = 40, // enable object avoidance using proximity sensors (ie. horizontal lidar)
AUXSW_ARMDISARM = 41, // arm or disarm vehicle
AUXSW_SMART_RTL = 42, // change to SafeRTL flight mode
AUXSW_SMART_RTL = 42, // change to SmartRTL flight mode
AUXSW_SWITCH_MAX,
};
@ -222,12 +222,12 @@ enum RTLState {
};
// Safe RTL states
enum SafeRTLState {
SafeRTL_WaitForPathCleanup,
SafeRTL_PathFollow,
SafeRTL_PreLandPosition,
SafeRTL_Descend,
SafeRTL_Land
enum SmartRTLState {
SmartRTL_WaitForPathCleanup,
SmartRTL_PathFollow,
SmartRTL_PreLandPosition,
SmartRTL_Descend,
SmartRTL_Land
};
// Alt_Hold states

2
ArduCopter/motors.cpp
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@ -179,7 +179,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
}
calc_distance_and_bearing();
// Reset SafeRTL return location. If activated, SafeRTL will ultimately try to land at this point
// Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
g2.smart_rtl.reset_path(position_ok());
// enable gps velocity based centrefugal force compensation

2
ArduCopter/switches.cpp
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@ -597,7 +597,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
case AUXSW_SMART_RTL:
if (ch_flag == AUX_SWITCH_HIGH) {
// engage SafeRTL (if not possible we remain in current flight mode)
// engage SmartRTL (if not possible we remain in current flight mode)
set_mode(SMART_RTL, MODE_REASON_TX_COMMAND);
} else {
// return to flight mode switch's flight mode if we are currently in RTL

2
ArduCopter/system.cpp
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@ -228,7 +228,7 @@ void Copter::init_ardupilot()
// initialise mission library
mission.init();
// initialize SafeRTL
// initialize SmartRTL
g2.smart_rtl.init();
// initialise DataFlash library