Copter: move takeoff state into Mode class

ArduCopter/Copter.h

@@ -362,15 +362,6 @@ private:
         uint8_t count;
         uint8_t ch_flag;
     } aux_debounce[(CH_12 - CH_7)+1];
-
-    typedef struct {
-        bool running;
-        float max_speed;
-        float alt_delta;
-        uint32_t start_ms;
-    } takeoff_state_t;
-    takeoff_state_t takeoff_state;
-
     // altitude below which we do no navigation in auto takeoff
     float auto_takeoff_no_nav_alt_cm;
 
@@ -923,9 +914,6 @@ private:
     const char* get_frame_string();
     void allocate_motors(void);
 
-    void takeoff_timer_start(float alt_cm);
-    void takeoff_stop();
-    void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate);
     void auto_takeoff_set_start_alt(void);
     void auto_takeoff_attitude_run(float target_yaw_rate);
 

ArduCopter/mode.cpp

@@ -24,7 +24,6 @@ Copter::Mode::Mode(void) :
     channel_yaw(copter.channel_yaw),
     G_Dt(copter.G_Dt),
     ap(copter.ap),
-    takeoff_state(copter.takeoff_state),
     ekfGndSpdLimit(copter.ekfGndSpdLimit),
 #if FRAME_CONFIG == HELI_FRAME
     heli_flags(copter.heli_flags),
@@ -281,7 +280,7 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
     }
 
     // cancel any takeoffs in progress
-    takeoff_stop();
+    old_flightmode->takeoff_stop();
 
 #if MODE_SMARTRTL_ENABLED == ENABLED
     // call smart_rtl cleanup
@@ -601,21 +600,6 @@ void Copter::Mode::set_throttle_takeoff()
     return copter.set_throttle_takeoff();
 }
 
-void Copter::Mode::takeoff_timer_start(float alt_cm)
-{
-    return copter.takeoff_timer_start(alt_cm);
-}
-
-void Copter::Mode::takeoff_stop()
-{
-    return copter.takeoff_stop();
-}
-
-void Copter::Mode::takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate)
-{
-    return copter.takeoff_get_climb_rates(pilot_climb_rate, takeoff_climb_rate);
-}
-
 float Copter::Mode::get_avoidance_adjusted_climbrate(float target_rate)
 {
     return copter.get_avoidance_adjusted_climbrate(target_rate);

ArduCopter/mode.h

@@ -132,7 +132,20 @@ protected:
     RC_Channel *&channel_yaw;
     float &G_Dt;
     ap_t ≈
-    takeoff_state_t &takeoff_state;
+
+    // auto-takeoff support; takeoff state is shared across all mode instances
+    typedef struct {
+        bool running;
+        float max_speed;
+        float alt_delta;
+        uint32_t start_ms;
+    } takeoff_state_t;
+
+    static takeoff_state_t takeoff_state;
+
+    void takeoff_timer_start(float alt_cm);
+    void takeoff_stop();
+    void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate);
 
     // takeoff support
     bool takeoff_triggered(float target_climb_rate) const;
@@ -162,9 +175,6 @@ protected:
     GCS_Copter &gcs();
     void Log_Write_Event(uint8_t id);
     void set_throttle_takeoff(void);
-    void takeoff_timer_start(float alt_cm);
-    void takeoff_stop(void);
-    void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate);
     float get_avoidance_adjusted_climbrate(float target_rate);
     uint16_t get_pilot_speed_dn(void);
 

ArduCopter/mode_flowhold.cpp

@@ -244,7 +244,7 @@ void Copter::ModeFlowHold::run()
     
     if (!copter.motors->armed() || !copter.motors->get_interlock()) {
         flowhold_state = FlowHold_MotorStopped;
-    } else if (copter.takeoff_state.running || takeoff_triggered(target_climb_rate)) {
+    } else if (takeoff_state.running || takeoff_triggered(target_climb_rate)) {
         flowhold_state = FlowHold_Takeoff;
     } else if (!copter.ap.auto_armed || copter.ap.land_complete) {
         flowhold_state = FlowHold_Landed;
@@ -304,8 +304,8 @@ void Copter::ModeFlowHold::run()
         copter.motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
         // initiate take-off
-        if (!copter.takeoff_state.running) {
+        if (!takeoff_state.running) {
-            copter.takeoff_timer_start(constrain_float(copter.g.pilot_takeoff_alt,0.0f,1000.0f));
+            takeoff_timer_start(constrain_float(copter.g.pilot_takeoff_alt,0.0f,1000.0f));
             // indicate we are taking off
             copter.set_land_complete(false);
             // clear i terms
@@ -313,7 +313,7 @@ void Copter::ModeFlowHold::run()
         }
 
         // get take-off adjusted pilot and takeoff climb rates
-        copter.takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
+        takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
 
         // get avoidance adjusted climb rate
         target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);

ArduCopter/takeoff.cpp

@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+Copter::Mode::takeoff_state_t Copter::Mode::takeoff_state;
+
 // This file contains the high-level takeoff logic for Loiter, PosHold, AltHold, Sport modes.
 //   The take-off can be initiated from a GCS NAV_TAKEOFF command which includes a takeoff altitude
 //   A safe takeoff speed is calculated and used to calculate a time_ms
@@ -46,7 +48,7 @@ bool Copter::Mode::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
 }
 
 // start takeoff to specified altitude above home in centimeters
-void Copter::takeoff_timer_start(float alt_cm)
+void Copter::Mode::takeoff_timer_start(float alt_cm)
 {
     // calculate climb rate
     float speed = MIN(wp_nav->get_speed_up(), MAX(g.pilot_speed_up*2.0f/3.0f, g.pilot_speed_up-50.0f));
@@ -64,7 +66,7 @@ void Copter::takeoff_timer_start(float alt_cm)
 }
 
 // stop takeoff
-void Copter::takeoff_stop()
+void Copter::Mode::takeoff_stop()
 {
     takeoff_state.running = false;
     takeoff_state.start_ms = 0;
@@ -74,7 +76,7 @@ void Copter::takeoff_stop()
 //  pilot_climb_rate is both an input and an output
 //  takeoff_climb_rate is only an output
 //  has side-effect of turning takeoff off when timeout as expired
-void Copter::takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate)
+void Copter::Mode::takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate)
 {
     // return pilot_climb_rate if take-off inactive
     if (!takeoff_state.running) {