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Copter: attitude target thrust-as-thrust bit moved from DEV_OPTIONS to GUID_OPTIONS

This commit is contained in:
Randy Mackay 2021-04-15 13:14:12 +09:00 committed by Andrew Tridgell
parent b8b1a7270c
commit 5fcd2de4fa
5 changed files with 13 additions and 4 deletions
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2
ArduCopter/GCS_Mavlink.cpp
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@ -1058,7 +1058,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
}
// check if the message's thrust field should be interpreted as a climb rate or as thrust
const bool use_thrust = copter.g2.dev_options.get() & DevOptionSetAttitudeTarget_ThrustAsThrust;
const bool use_thrust = copter.mode_guided.set_attitude_target_provides_thrust();
float climb_rate_or_thrust;
if (use_thrust) {

4
ArduCopter/Parameters.cpp
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@ -813,7 +813,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: DEV_OPTIONS
// @DisplayName: Development options
// @Description: Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning
// @Bitmask: 0:ADSBMavlinkProcessing,1:DevOptionVFR_HUDRelativeAlt,2:SetAttitudeTarget_ThrustAsThrust
// @Bitmask: 0:ADSBMavlinkProcessing,1:DevOptionVFR_HUDRelativeAlt
// @User: Advanced
AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),
@ -1026,7 +1026,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: GUID_OPTIONS
// @DisplayName: Guided mode options
// @Description: Options that can be applied to change guided mode behaviour
// @Bitmask: 0:Allow Arming from Transmitter,2:Ignore pilot yaw
// @Bitmask: 0:Allow Arming from Transmitter,2:Ignore pilot yaw,3:SetAttitudeTarget_ThrustAsThrust
// @User: Advanced
AP_GROUPINFO("GUID_OPTIONS", 41, ParametersG2, guided_options, 0),
#endif

1
ArduCopter/defines.h
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@ -131,7 +131,6 @@ enum PayloadPlaceStateType {
enum DevOptions {
DevOptionADSBMAVLink = 1,
DevOptionVFR_HUDRelativeAlt = 2,
DevOptionSetAttitudeTarget_ThrustAsThrust = 4,
};
// Logging parameters

4
ArduCopter/mode.h
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@ -837,6 +837,9 @@ public:
void set_velocity(const Vector3f& velocity, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false, bool log_request = true);
bool set_destination_posvel(const Vector3f& destination, const Vector3f& velocity, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false);
// returns true if GUIDED_OPTIONS param suggests SET_ATTITUDE_TARGET's "thrust" field should be interpreted as thrust instead of climb rate
bool set_attitude_target_provides_thrust() const;
void limit_clear();
void limit_init_time_and_pos();
void limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_max_cm, float horiz_max_cm);
@ -875,6 +878,7 @@ private:
AllowArmingFromTX = (1U << 0),
// this bit is still available, pilot yaw was mapped to bit 2 for symmetry with auto
IgnorePilotYaw = (1U << 2),
SetAttitudeTarget_ThrustAsThrust = (1U << 3),
};
void pos_control_start();

6
ArduCopter/mode_guided.cpp
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@ -367,6 +367,12 @@ bool ModeGuided::set_destination_posvel(const Vector3f& destination, const Vecto
return true;
}
// returns true if GUIDED_OPTIONS param suggests SET_ATTITUDE_TARGET's "thrust" field should be interpreted as thrust instead of climb rate
bool ModeGuided::set_attitude_target_provides_thrust() const
{
return ((copter.g2.guided_options.get() & uint32_t(Options::SetAttitudeTarget_ThrustAsThrust)) != 0);
}
// set guided mode angle target and climbrate
void ModeGuided::set_angle(const Quaternion &q, float climb_rate_cms_or_thrust, bool use_yaw_rate, float yaw_rate_rads, bool use_thrust)
{