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Copter: rename chase to follow

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This commit is contained in:
Randy Mackay 2018-02-06 11:44:05 +09:00
parent 053983eb70
commit 6ee101ca98
6 changed files with 17 additions and 16 deletions
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2
ArduCopter/Copter.h
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@ -976,11 +976,11 @@ private:
#if MODE_CIRCLE_ENABLED == ENABLED #if MODE_CIRCLE_ENABLED == ENABLED
ModeCircle mode_circle; ModeCircle mode_circle;
#endif #endif
ModeChase mode_chase;
#if MODE_DRIFT_ENABLED == ENABLED #if MODE_DRIFT_ENABLED == ENABLED
ModeDrift mode_drift; ModeDrift mode_drift;
#endif #endif
ModeFlip mode_flip; ModeFlip mode_flip;
ModeFollow mode_follow;
#if MODE_GUIDED_ENABLED == ENABLED #if MODE_GUIDED_ENABLED == ENABLED
ModeGuided mode_guided; ModeGuided mode_guided;
#endif #endif

2
ArduCopter/GCS_Mavlink.cpp
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@ -47,7 +47,7 @@ NOINLINE void Copter::send_heartbeat(mavlink_channel_t chan)
case RTL: case RTL:
case LOITER: case LOITER:
case AVOID_ADSB: case AVOID_ADSB:
case CHASE: case FOLLOW:
case GUIDED: case GUIDED:
case CIRCLE: case CIRCLE:
case POSHOLD: case POSHOLD:

2
ArduCopter/defines.h
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@ -109,7 +109,7 @@ enum control_mode_t {
GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude
SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps
FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder
CHASE = 23, // chase attempts to follow a mavink system id FOLLOW = 23, // follow attempts to follow another vehicle or ground station
}; };
enum mode_reason_t { enum mode_reason_t {

8
ArduCopter/mode.cpp
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@ -56,10 +56,6 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
break; break;
#endif #endif
case CHASE:
ret = &mode_chase;
break;
#if MODE_CIRCLE_ENABLED == ENABLED #if MODE_CIRCLE_ENABLED == ENABLED
case CIRCLE: case CIRCLE:
ret = &mode_circle; ret = &mode_circle;
@ -150,6 +146,10 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
break; break;
#endif #endif
case FOLLOW:
ret = &mode_follow;
break;
default: default:
break; break;
} }

9
ArduCopter/mode.h
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@ -1067,6 +1067,7 @@ private:
}; };
// modes below rely on Guided mode so must be declared at the end (instead of in alphabetical order)
class ModeAvoidADSB : public ModeGuided { class ModeAvoidADSB : public ModeGuided {
@ -1093,11 +1094,11 @@ private:
}; };
class ModeChase : public ModeGuided { class ModeFollow : public ModeGuided {
public: public:
ModeChase(Copter &copter) : ModeFollow(Copter &copter) :
Copter::ModeGuided(copter) { Copter::ModeGuided(copter) {
} }
@ -1113,6 +1114,6 @@ public:
protected: protected:
const char *name() const override { return "CHASE"; } const char *name() const override { return "FOLLOW"; }
const char *name4() const override { return "CHAS"; } const char *name4() const override { return "FOLL"; }
}; };

10
ArduCopter/mode_chase.cpp → ArduCopter/mode_follow.cpp
View File

@ -1,7 +1,7 @@
#include "Copter.h" #include "Copter.h"
/* /*
* mode_chase.cpp - chase another mavlink-enabled vehicle by system id * mode_follow.cpp - follow another mavlink-enabled vehicle by system id
* *
* TODO: set ROI yaw mode / point camera at target * TODO: set ROI yaw mode / point camera at target
* TODO: stick control to move around on sphere * TODO: stick control to move around on sphere
@ -19,23 +19,23 @@
#endif #endif
// initialise avoid_adsb controller // initialise avoid_adsb controller
bool Copter::ModeChase::init(const bool ignore_checks) bool Copter::ModeFollow::init(const bool ignore_checks)
{ {
// re-use guided mode // re-use guided mode
return Copter::ModeGuided::init(ignore_checks); return Copter::ModeGuided::init(ignore_checks);
} }
bool Copter::ModeChase::set_velocity(const Vector3f& velocity_neu) bool Copter::ModeFollow::set_velocity(const Vector3f& velocity_neu)
{ {
// check flight mode // check flight mode
if (_copter.flightmode != &_copter.mode_chase) { if (_copter.flightmode != &_copter.mode_follow) {
return false; return false;
} }
return true; return true;
} }
void Copter::ModeChase::run() void Copter::ModeFollow::run()
{ {
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) { if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {