Plane: move auto_throttle_mode to being a method on each mode

ArduPlane/AP_Arming.cpp

@@ -156,7 +156,7 @@ bool AP_Arming_Plane::arm_checks(AP_Arming::Method method)
 
         // if not in a manual throttle mode and not in CRUISE or FBWB
         // modes then disallow rudder arming/disarming
-        if (plane.auto_throttle_mode &&
+        if (plane.control_mode->does_auto_throttle() &&
             (plane.control_mode != &plane.mode_cruise && plane.control_mode != &plane.mode_fbwb)) {
             check_failed(true, "Mode not rudder-armable");
             return false;
@@ -254,7 +254,7 @@ bool AP_Arming_Plane::disarm(const AP_Arming::Method method)
     }
 
     // suppress the throttle in auto-throttle modes
-    plane.throttle_suppressed = plane.auto_throttle_mode;
+    plane.throttle_suppressed = plane.control_mode->does_auto_throttle();
 
     // if no airmode switch assigned, ensure airmode is off:
     if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRMODE) == nullptr) {

ArduPlane/ArduPlane.cpp

@@ -169,7 +169,7 @@ void Plane::ahrs_update()
  */
 void Plane::update_speed_height(void)
 {
-    if (auto_throttle_mode) {
+    if (control_mode->does_auto_throttle()) {
 	    // Call TECS 50Hz update. Note that we call this regardless of
 	    // throttle suppressed, as this needs to be running for
 	    // takeoff detection
@@ -481,7 +481,7 @@ void Plane::update_alt()
 
     update_flight_stage();
 
-    if (auto_throttle_mode && !throttle_suppressed) {        
+    if (control_mode->does_auto_throttle() && !throttle_suppressed) {
 
         float distance_beyond_land_wp = 0;
         if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND && current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) {
@@ -514,7 +514,7 @@ void Plane::update_alt()
 void Plane::update_flight_stage(void)
 {
     // Update the speed & height controller states
-    if (auto_throttle_mode && !throttle_suppressed) {        
+    if (control_mode->does_auto_throttle() && !throttle_suppressed) {
         if (control_mode == &mode_auto) {
             if (quadplane.in_vtol_auto()) {
                 set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_VTOL);

ArduPlane/Attitude.cpp

@@ -54,7 +54,7 @@ float Plane::get_speed_scaler(void)
  */
 bool Plane::stick_mixing_enabled(void)
 {
-    if (auto_throttle_mode && plane.control_mode->does_auto_navigation()) {
+    if (control_mode->does_auto_throttle() && plane.control_mode->does_auto_navigation()) {
         // we're in an auto mode. Check the stick mixing flag
         if (g.stick_mixing != STICK_MIXING_DISABLED &&
             g.stick_mixing != STICK_MIXING_VTOL_YAW &&
@@ -125,7 +125,7 @@ void Plane::stabilize_pitch(float speed_scaler)
     }
 
    // if LANDING_FLARE RCx_OPTION switch is set and in FW mode, manual throttle,throttle idle then set pitch to LAND_PITCH_CD if flight option FORCE_FLARE_ATTITUDE is set
-   if (!quadplane.in_transition() && !control_mode->is_vtol_mode() && channel_throttle->in_trim_dz() && !auto_throttle_mode && flare_mode == FlareMode::ENABLED_PITCH_TARGET) {
+    if (!quadplane.in_transition() && !control_mode->is_vtol_mode() && channel_throttle->in_trim_dz() && !control_mode->does_auto_throttle() && flare_mode == FlareMode::ENABLED_PITCH_TARGET) {
        demanded_pitch = landing.get_pitch_cd();
    }
 

ArduPlane/Plane.h

@@ -572,10 +572,6 @@ private:
         uint32_t impact_timer_ms;
     } crash_state;
 
-    // true if we are in an auto-throttle mode, which means
-    // we need to run the speed/height controller
-    bool auto_throttle_mode:1;
-
     // this controls throttle suppression in auto modes
     bool throttle_suppressed;
 	

ArduPlane/afs_plane.cpp

@@ -90,7 +90,7 @@ void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
  */
 AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Plane::afs_mode(void)
 {
-    if (plane.auto_throttle_mode) {
+    if (plane.control_mode->does_auto_throttle()) {
         return AP_AdvancedFailsafe::AFS_AUTO;
     }
     if (plane.control_mode == &plane.mode_manual) {

ArduPlane/mode.cpp

@@ -71,7 +71,7 @@ bool Mode::enter()
         // these must be done AFTER _enter() because they use the results to set more flags
 
         // start with throttle suppressed in auto_throttle modes
-        plane.throttle_suppressed = plane.auto_throttle_mode;
+        plane.throttle_suppressed = does_auto_throttle();
 #if HAL_ADSB_ENABLED
         plane.adsb.set_is_auto_mode(does_auto_navigation());
 #endif
@@ -93,8 +93,8 @@ bool Mode::is_vtol_man_throttle() const
         // We are a tailsitter that has fully transitioned to Q-assisted forward flight.
         // In this case the forward throttle directly drives the vertical throttle so
         // set vertical throttle state to match the forward throttle state. Confusingly the booleans are inverted,
-        // forward throttle uses 'auto_throttle_mode' whereas vertical uses 'is_vtol_man_throttle'.
-        return !plane.auto_throttle_mode;
+        // forward throttle uses 'does_auto_throttle' whereas vertical uses 'is_vtol_man_throttle'.
+        return !does_auto_throttle();
     }
     return false;
 }

ArduPlane/mode.h

@@ -91,6 +91,10 @@ public:
     // whether control input is ignored with STICK_MIXING=0
     virtual bool does_auto_navigation() const { return false; }
 
+    // true if the mode sets the vehicle destination, which controls
+    // whether control input is ignored with STICK_MIXING=0
+    virtual bool does_auto_throttle() const { return false; }
+
 protected:
 
     // subclasses override this to perform checks before entering the mode
@@ -134,6 +138,8 @@ public:
 
     bool does_auto_navigation() const override { return true; }
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -177,6 +183,8 @@ public:
 
     bool does_auto_navigation() const override { return true; }
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -195,6 +203,8 @@ public:
 
     bool does_auto_navigation() const override { return true; }
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -216,8 +226,12 @@ public:
     bool isHeadingLinedUp(const Location loiterCenterLoc, const Location targetLoc);
     bool isHeadingLinedUp_cd(const int32_t bearing_cd);
 
+    bool allows_throttle_nudging() const override { return true; }
+
     bool does_auto_navigation() const override { return true; }
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -236,7 +250,6 @@ public:
 
 protected:
 
-    bool _enter() override;
     void _exit() override;
 };
 
@@ -258,6 +271,8 @@ public:
 
     bool does_auto_navigation() const override { return true; }
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -273,10 +288,6 @@ public:
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
-
-protected:
-
-    bool _enter() override;
 };
 
 class ModeTraining : public Mode
@@ -289,10 +300,6 @@ public:
 
     // methods that affect movement of the vehicle in this mode
     void update() override;
-
-protected:
-
-    bool _enter() override;
 };
 
 class ModeInitializing : public Mode
@@ -308,9 +315,7 @@ public:
 
     bool allows_throttle_nudging() const override { return true; }
 
-protected:
-
-    bool _enter() override;
+    bool does_auto_throttle() const override { return true; }
 };
 
 class ModeFBWA : public Mode
@@ -324,10 +329,6 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
-    bool _enter() override;
-
-protected:
-
 };
 
 class ModeFBWB : public Mode
@@ -343,6 +344,8 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -365,6 +368,8 @@ public:
 
     bool get_target_heading_cd(int32_t &target_heading);
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -390,6 +395,8 @@ public:
 
     virtual bool is_guided_mode() const override { return true; }
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -433,6 +440,8 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -452,6 +461,8 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -470,6 +481,8 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -488,6 +501,8 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -527,6 +542,8 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -552,6 +569,8 @@ public:
 
     bool does_auto_navigation() const override { return true; }
 
+    bool does_auto_throttle() const override { return true; }
+
     // var_info for holding parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -589,6 +608,10 @@ public:
 
     bool does_auto_navigation() const override { return true; }
 
+    // true if we are in an auto-throttle mode, which means
+    // we need to run the speed/height controller
+    bool does_auto_throttle() const override { return true; }
+
 protected:
 
     bool exit_heading_aligned() const;

ArduPlane/mode_acro.cpp

@@ -3,7 +3,6 @@
 
 bool ModeAcro::_enter()
 {
-    plane.auto_throttle_mode = false;
     plane.acro_state.locked_roll = false;
     plane.acro_state.locked_pitch = false;
 

ArduPlane/mode_auto.cpp

@@ -3,7 +3,6 @@
 
 bool ModeAuto::_enter()
 {
-    plane.auto_throttle_mode = true;
     if (plane.quadplane.available() && plane.quadplane.enable == 2) {
         plane.auto_state.vtol_mode = true;
     } else {

ArduPlane/mode_autotune.cpp

@@ -3,7 +3,6 @@
 
 bool ModeAutoTune::_enter()
 {
-    plane.auto_throttle_mode = false;
     plane.autotune_start();
 
     return true;

ArduPlane/mode_circle.cpp

@@ -4,7 +4,6 @@
 bool ModeCircle::_enter()
 {
     // the altitude to circle at is taken from the current altitude
-    plane.auto_throttle_mode = true;
     plane.next_WP_loc.alt = plane.current_loc.alt;
 
     return true;

ArduPlane/mode_cruise.cpp

@@ -3,7 +3,6 @@
 
 bool ModeCruise::_enter()
 {
-    plane.auto_throttle_mode = true;
     locked_heading = false;
     lock_timer_ms = 0;
 

ArduPlane/mode_fbwa.cpp

@@ -1,13 +1,6 @@
 #include "mode.h"
 #include "Plane.h"
 
-bool ModeFBWA::_enter()
-{
-    plane.auto_throttle_mode = false;
-
-    return true;
-}
-
 void ModeFBWA::update()
 {
     // set nav_roll and nav_pitch using sticks

ArduPlane/mode_fbwb.cpp

@@ -3,8 +3,6 @@
 
 bool ModeFBWB::_enter()
 {
-    plane.auto_throttle_mode = true;
-
 #if HAL_SOARING_ENABLED
     // for ArduSoar soaring_controller
     plane.g2.soaring_controller.init_cruising();

ArduPlane/mode_guided.cpp

@@ -3,7 +3,6 @@
 
 bool ModeGuided::_enter()
 {
-    plane.auto_throttle_mode = true;
     plane.guided_throttle_passthru = false;
     /*
       when entering guided mode we set the target as the current

ArduPlane/mode_initializing.cpp

@@ -1,10 +0,0 @@
-#include "mode.h"
-#include "Plane.h"
-
-bool ModeInitializing::_enter()
-{
-    plane.auto_throttle_mode = true;
-
-    return true;
-}
-

ArduPlane/mode_loiter.cpp

@@ -3,7 +3,6 @@
 
 bool ModeLoiter::_enter()
 {
-    plane.auto_throttle_mode = true;
     plane.do_loiter_at_location();
     plane.loiter_angle_reset();
 

ArduPlane/mode_manual.cpp

@@ -1,13 +1,6 @@
 #include "mode.h"
 #include "Plane.h"
 
-bool ModeManual::_enter()
-{
-    plane.auto_throttle_mode = false;
-
-    return true;
-}
-
 void ModeManual::_exit()
 {
     if (plane.g.auto_trim > 0) {

ArduPlane/mode_qacro.cpp

@@ -6,7 +6,6 @@ bool ModeQAcro::_enter()
     if (!plane.quadplane.init_mode() && plane.previous_mode != nullptr) {
         plane.control_mode = plane.previous_mode;
     } else {
-        plane.auto_throttle_mode = false;
         plane.auto_state.vtol_mode = true;
     }
 

ArduPlane/mode_qstabilize.cpp

@@ -6,7 +6,6 @@ bool ModeQStabilize::_enter()
     if (!plane.quadplane.init_mode() && plane.previous_mode != nullptr) {
         plane.control_mode = plane.previous_mode;
     } else {
-        plane.auto_throttle_mode = false;
         plane.auto_state.vtol_mode = true;
     }
 

ArduPlane/mode_rtl.cpp

@@ -3,7 +3,6 @@
 
 bool ModeRTL::_enter()
 {
-    plane.auto_throttle_mode = true;
     plane.prev_WP_loc = plane.current_loc;
     plane.do_RTL(plane.get_RTL_altitude());
     plane.rtl.done_climb = false;

ArduPlane/mode_stabilize.cpp

@@ -1,13 +1,6 @@
 #include "mode.h"
 #include "Plane.h"
 
-bool ModeStabilize::_enter()
-{
-    plane.auto_throttle_mode = false;
-
-    return true;
-}
-
 void ModeStabilize::update()
 {
     plane.nav_roll_cd = 0;

ArduPlane/mode_takeoff.cpp

@@ -51,9 +51,6 @@ ModeTakeoff::ModeTakeoff()
 
 bool ModeTakeoff::_enter()
 {
-    // the altitude to circle at is taken from the current altitude
-    plane.auto_throttle_mode = true;
-
     takeoff_started = false;
 
     return true;

ArduPlane/mode_thermal.cpp

@@ -9,7 +9,6 @@ bool ModeThermal::_enter()
         return false;
     }
 
-    plane.auto_throttle_mode = true;
     plane.do_loiter_at_location();
     plane.loiter_angle_reset();
 

ArduPlane/mode_training.cpp

@@ -1,13 +1,6 @@
 #include "mode.h"
 #include "Plane.h"
 
-bool ModeTraining::_enter()
-{
-    plane.auto_throttle_mode = false;
-
-    return true;
-}
-
 void ModeTraining::update()
 {
     plane.training_manual_roll = false;

ArduPlane/navigation.cpp

@@ -204,7 +204,7 @@ void Plane::calc_airspeed_errors()
     // Set target to current airspeed + ground speed undershoot,
     // but only when this is faster than the target airspeed commanded
     // above.
-    if (auto_throttle_mode &&
+    if (control_mode->does_auto_throttle() &&
     	aparm.min_gndspeed_cm > 0 &&
     	control_mode != &mode_circle) {
         int32_t min_gnd_target_airspeed = airspeed_measured*100 + groundspeed_undershoot;

ArduPlane/quadplane.cpp

@@ -1482,7 +1482,7 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
 {
     bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && (air_mode == AirMode::ON);
     if (!manual_air_mode &&
-        plane.get_throttle_input() <= 0 && !plane.auto_throttle_mode &&
+        plane.get_throttle_input() <= 0 && !plane.control_mode->does_auto_throttle() &&
         plane.arming.get_rudder_arming_type() != AP_Arming::RudderArming::IS_DISABLED) {
         // the user may be trying to disarm
         return 0;
@@ -1516,7 +1516,7 @@ float QuadPlane::get_desired_yaw_rate_cds(void)
         yaw_cds += desired_auto_yaw_rate_cds();
     }
     bool manual_air_mode = plane.control_mode->is_vtol_man_throttle() && (air_mode == AirMode::ON);
-    if (plane.get_throttle_input() <= 0 && !plane.auto_throttle_mode && !manual_air_mode) {
+    if (plane.get_throttle_input() <= 0 && !plane.control_mode->does_auto_throttle() && !manual_air_mode) {
         // the user may be trying to disarm
         return 0;
     }
@@ -1571,7 +1571,7 @@ void QuadPlane::set_armed(bool armed)
 float QuadPlane::assist_climb_rate_cms(void) const
 {
     float climb_rate;
-    if (plane.auto_throttle_mode) {
+    if (plane.control_mode->does_auto_throttle()) {
         // use altitude_error_cm, spread over 10s interval
         climb_rate = plane.altitude_error_cm * 0.1f;
     } else {
@@ -1698,7 +1698,7 @@ bool QuadPlane::assistance_needed(float aspeed, bool have_airspeed)
 // return true if it is safe to provide assistance
 bool QuadPlane::assistance_safe()
 {
-    return hal.util->get_soft_armed() && ( (plane.auto_throttle_mode && !plane.throttle_suppressed)
+    return hal.util->get_soft_armed() && ( (plane.control_mode->does_auto_throttle() && !plane.throttle_suppressed)
                                                                       || plane.get_throttle_input()>0 
                                                                       || plane.is_flying() );
 }
@@ -2084,7 +2084,7 @@ void QuadPlane::update_throttle_suppression(void)
 
     // if we are in a fixed wing auto throttle mode and we have
     // unsuppressed the throttle then allow motors to run
-    if (plane.auto_throttle_mode && !plane.throttle_suppressed) {
+    if (plane.control_mode->does_auto_throttle() && !plane.throttle_suppressed) {
         return;
     }
 

ArduPlane/servos.cpp

@@ -54,7 +54,7 @@ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
 bool Plane::suppress_throttle(void)
 {
 #if PARACHUTE == ENABLED
-    if (auto_throttle_mode && parachute.release_initiated()) {
+    if (control_mode->does_auto_throttle() && parachute.release_initiated()) {
         // throttle always suppressed in auto-throttle modes after parachute release initiated
         throttle_suppressed = true;
         return true;
@@ -69,7 +69,7 @@ bool Plane::suppress_throttle(void)
         // we've previously met a condition for unsupressing the throttle
         return false;
     }
-    if (!auto_throttle_mode) {
+    if (!control_mode->does_auto_throttle()) {
         // the user controls the throttle
         throttle_suppressed = false;
         return false;
@@ -579,7 +579,7 @@ void Plane::set_servos_flaps(void)
         manual_flap_percent = channel_flap->percent_input();
     }
 
-    if (auto_throttle_mode) {
+    if (control_mode->does_auto_throttle()) {
         int16_t flapSpeedSource = 0;
         if (ahrs.airspeed_sensor_enabled()) {
             flapSpeedSource = target_airspeed_cm * 0.01f;
@@ -726,7 +726,7 @@ void Plane::servos_twin_engine_mix(void)
 */
 void Plane::force_flare(void)
 {
-    if (!quadplane.in_transition() && !control_mode->is_vtol_mode() && !auto_throttle_mode && channel_throttle->in_trim_dz() && flare_mode != FlareMode::FLARE_DISABLED) {
+    if (!quadplane.in_transition() && !control_mode->is_vtol_mode() && !control_mode->does_auto_throttle() && channel_throttle->in_trim_dz() && flare_mode != FlareMode::FLARE_DISABLED) {
         int32_t tilt = -SERVO_MAX;  //this is tilts up for a normal tiltrotor
         if (quadplane.tilt.tilt_type == QuadPlane::TILT_TYPE_BICOPTER) {
             tilt = 0; // this is tilts up for a Bicopter
@@ -830,8 +830,8 @@ void Plane::set_servos(void)
 
     // set airbrake outputs
     airbrake_update();
-    
-    if (auto_throttle_mode ||
+
+    if (control_mode->does_auto_throttle() ||
         quadplane.in_assisted_flight() ||
         quadplane.in_vtol_mode()) {
         /* only do throttle slew limiting in modes where throttle
@@ -956,7 +956,7 @@ void Plane::update_throttle_hover() {
 void Plane::servos_auto_trim(void)
 {
     // only in auto modes and FBWA
-    if (!auto_throttle_mode && control_mode != &mode_fbwa) {
+    if (!control_mode->does_auto_throttle() && control_mode != &mode_fbwa) {
         return;
     }
     if (!hal.util->get_soft_armed()) {