Copter: FlightMode - convert SPORT flight mode

ArduCopter/Copter.h

@@ -852,8 +852,6 @@ private:
     void smart_rtl_land();
     void smart_rtl_save_position();
 
-    bool sport_init(bool ignore_checks);
-    void sport_run();
     void crash_check();
     void parachute_check();
     void parachute_release();
@@ -1080,6 +1078,7 @@ private:
     Copter::FlightMode_STABILIZE flightmode_stabilize{*this};
 #endif
 
+    Copter::FlightMode_SPORT flightmode_sport{*this};
 
 public:
     void mavlink_delay_cb();

ArduCopter/FlightMode.h

@@ -606,3 +606,30 @@ private:
     float get_throttle_assist(float velz, float pilot_throttle_scaled);
 
 };
+
+
+
+class FlightMode_SPORT : public FlightMode {
+
+public:
+
+    FlightMode_SPORT(Copter &copter) :
+        Copter::FlightMode(copter)
+        { }
+
+    virtual bool init(bool ignore_checks) override;
+    virtual void run() override; // should be called at 100hz or more
+
+    virtual bool requires_GPS() const override { return false; }
+    virtual bool has_manual_throttle() const override { return false; }
+    virtual bool allows_arming(bool from_gcs) const override { return true; };
+    virtual bool is_autopilot() const override { return false; }
+
+protected:
+
+    const char *name() const override { return "SPORT"; }
+    const char *name4() const override { return "SPRT"; }
+
+private:
+
+};

ArduCopter/control_sport.cpp

@@ -5,7 +5,7 @@
  */
 
 // sport_init - initialise sport controller
-bool Copter::sport_init(bool ignore_checks)
+bool Copter::FlightMode_SPORT::init(bool ignore_checks)
 {
     // initialize vertical speed and acceleration
     pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
@@ -22,7 +22,7 @@ bool Copter::sport_init(bool ignore_checks)
 
 // sport_run - runs the sport controller
 // should be called at 100hz or more
-void Copter::sport_run()
+void Copter::FlightMode_SPORT::run()
 {
     SportModeState sport_state;
     float takeoff_climb_rate = 0.0f;
@@ -51,6 +51,7 @@ void Copter::sport_run()
     int32_t pitch_angle = wrap_180_cd(att_target.y);
     target_pitch_rate -= constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;
 
+    AP_Vehicle::MultiCopter &aparm = _copter.aparm;
     if (roll_angle > aparm.angle_max){
         target_roll_rate -=  g.acro_rp_p*(roll_angle-aparm.angle_max);
     }else if (roll_angle < -aparm.angle_max) {
@@ -156,7 +157,7 @@ void Copter::sport_run()
         attitude_control->input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
 
         // adjust climb rate using rangefinder
-        if (rangefinder_alt_ok()) {
+        if (_copter.rangefinder_alt_ok()) {
             // if rangefinder is ok, use surface tracking
             target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control->get_alt_target(), G_Dt);
         }

ArduCopter/flight_mode.cpp

@@ -110,7 +110,10 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
             break;
 
         case SPORT:
-            success = sport_init(ignore_checks);
+            success = flightmode_sport.init(ignore_checks);
+            if (success) {
+                flightmode = &flightmode_sport;
+            }
             break;
 
         case FLIP:
@@ -215,10 +218,6 @@ void Copter::update_flight_mode()
 
     switch (control_mode) {
 
-        case SPORT:
-            sport_run();
-            break;
-
         case FLIP:
             flip_run();
             break;
@@ -383,9 +382,6 @@ void Copter::notify_flight_mode()
 
     // set flight mode string
     switch (control_mode) {
-        case SPORT:
-            notify.set_flight_mode_str("SPRT");
-            break;
         case FLIP:
             notify.set_flight_mode_str("FLIP");
             break;