Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: make AutoMode an enum class

This commit is contained in:
Pierre Kancir 2021-01-26 11:56:52 +01:00 committed by Andrew Tridgell
parent e1f97becab
commit 4987e54247
3 changed files with 53 additions and 52 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
ArduCopter/defines.h
View File

@ -84,17 +84,18 @@ enum tuning_func {
#define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicopters)
// Auto modes
enum AutoMode {
Auto_TakeOff,
Auto_WP,
Auto_Land,
Auto_RTL,
Auto_CircleMoveToEdge,
Auto_Circle,
Auto_NavGuided,
Auto_Loiter,
Auto_LoiterToAlt,
Auto_NavPayloadPlace,
enum class AutoMode : uint8_t {
TAKEOFF,
WP,
LAND,
RTL,
CIRCLE_MOVE_TO_EDGE,
CIRCLE,
SPLINE,
NAVGUIDED,
LOITER,
LOITER_TO_ALT,
NAV_PAYLOAD_PLACE,
};
// Airmode

4
ArduCopter/mode.h
View File

@ -358,7 +358,7 @@ public:
bool has_manual_throttle() const override { return false; }
bool allows_arming(AP_Arming::Method method) const override;
bool is_autopilot() const override { return true; }
bool in_guided_mode() const override { return mode() == Auto_NavGuided; }
bool in_guided_mode() const override { return mode() == AutoMode::NAVGUIDED; }
// Auto
AutoMode mode() const { return _mode; }
@ -437,7 +437,7 @@ private:
void payload_place_run_descend();
void payload_place_run_release();
AutoMode _mode = Auto_TakeOff; // controls which auto controller is run
AutoMode _mode = AutoMode::TAKEOFF; // controls which auto controller is run
Location terrain_adjusted_location(const AP_Mission::Mission_Command& cmd) const;

78
ArduCopter/mode_auto.cpp
View File

@ -23,7 +23,7 @@
bool ModeAuto::init(bool ignore_checks)
{
if (mission.num_commands() > 1 || ignore_checks) {
_mode = Auto_Loiter;
_mode = AutoMode::LOITER;
// reject switching to auto mode if landed with motors armed but first command is not a takeoff (reduce chance of flips)
if (motors->armed() && copter.ap.land_complete && !mission.starts_with_takeoff_cmd()) {
@ -86,7 +86,7 @@ void ModeAuto::run()
// check for mission changes
if (check_for_mission_change()) {
// if mission is running restart the current command if it is a waypoint or spline command
if ((copter.mode_auto.mission.state() == AP_Mission::MISSION_RUNNING) && (_mode == Auto_WP)) {
if ((copter.mode_auto.mission.state() == AP_Mission::MISSION_RUNNING) && (_mode == AutoMode::WP)) {
if (mission.restart_current_nav_cmd()) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Auto mission changed, restarted command");
} else {
@ -102,42 +102,42 @@ void ModeAuto::run()
// call the correct auto controller
switch (_mode) {
case Auto_TakeOff:
case AutoMode::TAKEOFF:
takeoff_run();
break;
case Auto_WP:
case Auto_CircleMoveToEdge:
case AutoMode::WP:
case AutoMode::CIRCLE_MOVE_TO_EDGE:
wp_run();
break;
case Auto_Land:
case AutoMode::LAND:
land_run();
break;
case Auto_RTL:
case AutoMode::RTL:
rtl_run();
break;
case Auto_Circle:
case AutoMode::CIRCLE:
circle_run();
break;
case Auto_NavGuided:
case AutoMode::NAVGUIDED:
#if NAV_GUIDED == ENABLED
nav_guided_run();
#endif
break;
case Auto_Loiter:
case AutoMode::LOITER:
loiter_run();
break;
case Auto_LoiterToAlt:
case AutoMode::LOITER_TO_ALT:
loiter_to_alt_run();
break;
case Auto_NavPayloadPlace:
case AutoMode::NAV_PAYLOAD_PLACE:
payload_place_run();
break;
}
@ -156,7 +156,7 @@ bool ModeAuto::loiter_start()
if (!copter.position_ok()) {
return false;
}
_mode = Auto_Loiter;
_mode = AutoMode::LOITER;
// calculate stopping point
Vector3f stopping_point;
@ -174,7 +174,7 @@ bool ModeAuto::loiter_start()
// auto_rtl_start - initialises RTL in AUTO flight mode
void ModeAuto::rtl_start()
{
_mode = Auto_RTL;
_mode = AutoMode::RTL;
// call regular rtl flight mode initialisation and ask it to ignore checks
copter.mode_rtl.init(true);
@ -183,7 +183,7 @@ void ModeAuto::rtl_start()
// auto_takeoff_start - initialises waypoint controller to implement take-off
void ModeAuto::takeoff_start(const Location& dest_loc)
{
_mode = Auto_TakeOff;
_mode = AutoMode::TAKEOFF;
Location dest(dest_loc);
@ -242,7 +242,7 @@ void ModeAuto::wp_start(const Location& dest_loc)
return;
}
_mode = Auto_WP;
_mode = AutoMode::WP;
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
@ -265,7 +265,7 @@ void ModeAuto::land_start()
// auto_land_start - initialises controller to implement a landing
void ModeAuto::land_start(const Vector3f& destination)
{
_mode = Auto_Land;
_mode = AutoMode::LAND;
// initialise loiter target destination
loiter_nav->init_target(destination);
@ -310,7 +310,7 @@ void ModeAuto::circle_movetoedge_start(const Location &circle_center, float radi
// if more than 3m then fly to edge
if (dist_to_edge > 300.0f) {
// set the state to move to the edge of the circle
_mode = Auto_CircleMoveToEdge;
_mode = AutoMode::CIRCLE_MOVE_TO_EDGE;
// convert circle_edge_neu to Location
Location circle_edge(circle_edge_neu, Location::AltFrame::ABOVE_ORIGIN);
@ -347,7 +347,7 @@ void ModeAuto::circle_movetoedge_start(const Location &circle_center, float radi
// assumes that circle_nav object has already been initialised with circle center and radius
void ModeAuto::circle_start()
{
_mode = Auto_Circle;
_mode = AutoMode::CIRCLE;
// initialise circle controller
copter.circle_nav->init(copter.circle_nav->get_center(), copter.circle_nav->center_is_terrain_alt());
@ -361,7 +361,7 @@ void ModeAuto::circle_start()
// auto_nav_guided_start - hand over control to external navigation controller in AUTO mode
void ModeAuto::nav_guided_start()
{
_mode = Auto_NavGuided;
_mode = AutoMode::NAVGUIDED;
// call regular guided flight mode initialisation
copter.mode_guided.init(true);
@ -374,9 +374,9 @@ void ModeAuto::nav_guided_start()
bool ModeAuto::is_landing() const
{
switch(_mode) {
case Auto_Land:
case AutoMode::LAND:
return true;
case Auto_RTL:
case AutoMode::RTL:
return copter.mode_rtl.is_landing();
default:
return false;
@ -386,7 +386,7 @@ bool ModeAuto::is_landing() const
bool ModeAuto::is_taking_off() const
{
return ((_mode == Auto_TakeOff) && !wp_nav->reached_wp_destination());
return ((_mode == AutoMode::TAKEOFF) && !wp_nav->reached_wp_destination());
}
// auto_payload_place_start - initialises controller to implement a placing
@ -608,7 +608,7 @@ bool ModeAuto::check_for_mission_change()
bool ModeAuto::do_guided(const AP_Mission::Mission_Command& cmd)
{
// only process guided waypoint if we are in guided mode
if (copter.flightmode->mode_number() != Mode::Number::GUIDED && !(copter.flightmode->mode_number() == Mode::Number::AUTO && mode() == Auto_NavGuided)) {
if (copter.flightmode->mode_number() != Mode::Number::GUIDED && !(copter.flightmode->mode_number() == Mode::Number::AUTO && mode() == AutoMode::NAVGUIDED)) {
return false;
}
@ -637,10 +637,10 @@ bool ModeAuto::do_guided(const AP_Mission::Mission_Command& cmd)
uint32_t ModeAuto::wp_distance() const
{
switch (_mode) {
case Auto_Circle:
case AutoMode::CIRCLE:
return copter.circle_nav->get_distance_to_target();
case Auto_WP:
case Auto_CircleMoveToEdge:
case AutoMode::WP:
case AutoMode::CIRCLE_MOVE_TO_EDGE:
default:
return wp_nav->get_wp_distance_to_destination();
}
@ -649,10 +649,10 @@ uint32_t ModeAuto::wp_distance() const
int32_t ModeAuto::wp_bearing() const
{
switch (_mode) {
case Auto_Circle:
case AutoMode::CIRCLE:
return copter.circle_nav->get_bearing_to_target();
case Auto_WP:
case Auto_CircleMoveToEdge:
case AutoMode::WP:
case AutoMode::CIRCLE_MOVE_TO_EDGE:
default:
return wp_nav->get_wp_bearing_to_destination();
}
@ -661,11 +661,11 @@ int32_t ModeAuto::wp_bearing() const
bool ModeAuto::get_wp(Location& destination)
{
switch (_mode) {
case Auto_NavGuided:
case AutoMode::NAVGUIDED:
return copter.mode_guided.get_wp(destination);
case Auto_WP:
case AutoMode::WP:
return wp_nav->get_oa_wp_destination(destination);
case Auto_RTL:
case AutoMode::RTL:
return copter.mode_rtl.get_wp(destination);
default:
return false;
@ -955,7 +955,7 @@ void ModeAuto::loiter_to_alt_run()
if (!loiter_to_alt.loiter_start_done) {
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
_mode = Auto_LoiterToAlt;
_mode = AutoMode::LOITER_TO_ALT;
loiter_to_alt.loiter_start_done = true;
}
const float alt_error_cm = copter.current_loc.alt - loiter_to_alt.alt;
@ -989,7 +989,7 @@ void ModeAuto::loiter_to_alt_run()
// auto_payload_place_start - initialises controller to implement placement of a load
void ModeAuto::payload_place_start(const Vector3f& destination)
{
_mode = Auto_NavPayloadPlace;
_mode = AutoMode::NAV_PAYLOAD_PLACE;
nav_payload_place.state = PayloadPlaceStateType_Calibrating_Hover_Start;
// initialise loiter target destination
@ -1153,7 +1153,7 @@ void ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd)
return;
}
_mode = Auto_WP;
_mode = AutoMode::WP;
// this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0;
@ -1309,7 +1309,7 @@ void ModeAuto::do_loiter_to_alt(const AP_Mission::Mission_Command& cmd)
{
// re-use loiter unlimited
do_loiter_unlimited(cmd);
_mode = Auto_LoiterToAlt;
_mode = AutoMode::LOITER_TO_ALT;
// if we aren't navigating to a location then we have to adjust
// altitude for current location
@ -1357,7 +1357,7 @@ void ModeAuto::do_spline_wp(const AP_Mission::Mission_Command& cmd)
return;
}
_mode = Auto_WP;
_mode = AutoMode::WP;
// this will be used to remember the time in millis after we reach or pass the WP.
loiter_time = 0;
@ -1903,7 +1903,7 @@ bool ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
bool ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
{
// check if we've reached the edge
if (mode() == Auto_CircleMoveToEdge) {
if (mode() == AutoMode::CIRCLE_MOVE_TO_EDGE) {
if (copter.wp_nav->reached_wp_destination()) {
// start circling
circle_start();