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Copter: make exit_mode take FlightMode objects as arguments

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Peter Barker 2017-12-06 10:52:54 +11:00 committed by Randy Mackay
parent adf4140b9b
commit 4fd61ed6dc
2 changed files with 13 additions and 11 deletions
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3
ArduCopter/Copter.h
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@ -803,7 +803,6 @@ private:
void update_sensor_status_flags(void); void update_sensor_status_flags(void);
bool set_mode(control_mode_t mode, mode_reason_t reason); bool set_mode(control_mode_t mode, mode_reason_t reason);
void update_flight_mode(); void update_flight_mode();
void exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode);
bool mode_has_manual_throttle(control_mode_t mode); bool mode_has_manual_throttle(control_mode_t mode);
void notify_flight_mode(); void notify_flight_mode();
void heli_init(); void heli_init();
@ -1013,6 +1012,8 @@ private:
Copter::FlightMode *flightmode_for_mode(const uint8_t mode); Copter::FlightMode *flightmode_for_mode(const uint8_t mode);
void exit_mode(FlightMode *&old_flightmode, FlightMode *&new_flightmode);
public: public:
void mavlink_delay_cb(); void mavlink_delay_cb();
void failsafe_check(); void failsafe_check();

21
ArduCopter/flight_mode.cpp
View File

@ -136,7 +136,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
#endif #endif
// perform any cleanup required by previous flight mode // perform any cleanup required by previous flight mode
exit_mode(control_mode, mode); exit_mode(flightmode, new_flightmode);
// update flight mode // update flight mode
flightmode = new_flightmode; flightmode = new_flightmode;
@ -178,16 +178,17 @@ void Copter::update_flight_mode()
} }
// exit_mode - high level call to organise cleanup as a flight mode is exited // exit_mode - high level call to organise cleanup as a flight mode is exited
void Copter::exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode) void Copter::exit_mode(Copter::FlightMode *&old_flightmode,
Copter::FlightMode *&new_flightmode)
{ {
#if AUTOTUNE_ENABLED == ENABLED #if AUTOTUNE_ENABLED == ENABLED
if (old_control_mode == AUTOTUNE) { if (old_flightmode == &flightmode_autotune) {
flightmode_autotune.autotune_stop(); flightmode_autotune.autotune_stop();
} }
#endif #endif
// stop mission when we leave auto mode // stop mission when we leave auto mode
if (old_control_mode == AUTO) { if (old_flightmode == &flightmode_auto) {
if (mission.state() == AP_Mission::MISSION_RUNNING) { if (mission.state() == AP_Mission::MISSION_RUNNING) {
mission.stop(); mission.stop();
} }
@ -197,7 +198,7 @@ void Copter::exit_mode(control_mode_t old_control_mode, control_mode_t new_contr
} }
// smooth throttle transition when switching from manual to automatic flight modes // smooth throttle transition when switching from manual to automatic flight modes
if (mode_has_manual_throttle(old_control_mode) && !mode_has_manual_throttle(new_control_mode) && motors->armed() && !ap.land_complete) { if (old_flightmode->has_manual_throttle() && !new_flightmode->has_manual_throttle() && motors->armed() && !ap.land_complete) {
// this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle // this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle
set_accel_throttle_I_from_pilot_throttle(); set_accel_throttle_I_from_pilot_throttle();
} }
@ -206,13 +207,13 @@ void Copter::exit_mode(control_mode_t old_control_mode, control_mode_t new_contr
takeoff_stop(); takeoff_stop();
// call smart_rtl cleanup // call smart_rtl cleanup
if (old_control_mode == SMART_RTL) { if (old_flightmode == &flightmode_smartrtl) {
flightmode_smartrtl.exit(); flightmode_smartrtl.exit();
} }
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// firmly reset the flybar passthrough to false when exiting acro mode. // firmly reset the flybar passthrough to false when exiting acro mode.
if (old_control_mode == ACRO) { if (old_flightmode == &flightmode_acro) {
attitude_control->use_flybar_passthrough(false, false); attitude_control->use_flybar_passthrough(false, false);
motors->set_acro_tail(false); motors->set_acro_tail(false);
} }
@ -220,10 +221,10 @@ void Copter::exit_mode(control_mode_t old_control_mode, control_mode_t new_contr
// if we are changing from a mode that did not use manual throttle, // if we are changing from a mode that did not use manual throttle,
// stab col ramp value should be pre-loaded to the correct value to avoid a twitch // 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 // heli_stab_col_ramp should really only be active switching between Stabilize and Acro modes
if (!mode_has_manual_throttle(old_control_mode)){ if (!old_flightmode->has_manual_throttle()){
if (new_control_mode == STABILIZE){ if (new_flightmode == &flightmode_stabilize){
input_manager.set_stab_col_ramp(1.0); input_manager.set_stab_col_ramp(1.0);
} else if (new_control_mode == ACRO){ } else if (new_flightmode == &flightmode_acro){
input_manager.set_stab_col_ramp(0.0); input_manager.set_stab_col_ramp(0.0);
} }
} }