mirror of https://github.com/ArduPilot/ardupilot
Copter: add option to disable SmartRTL mode
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This commit is contained in:
Peter Barker
Randy Mackay
parent
3a61b86e65
commit
9b440d6b25
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@ -25,6 +25,8 @@
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//#define WINCH_ENABLED DISABLED // disable winch support
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//#define MODE_AUTO_ENABLED DISABLED // disable auto mode support
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//#define MODE_POSHOLD_ENABLED DISABLED // disable poshold mode support
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//#define MODE_SMARTRTL_ENABLED DISABLED // disable smartrtl mode support
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// features below are disabled by default on all boards
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//#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes
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@ -106,7 +106,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
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SCHED_TASK(update_altitude, 10, 100),
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SCHED_TASK(run_nav_updates, 50, 100),
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SCHED_TASK(update_throttle_hover,100, 90),
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#if MODE_SMARTRTL_ENABLED == ENABLED
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SCHED_TASK_CLASS(Copter::ModeSmartRTL, &copter.mode_smartrtl, save_position, 3, 100),
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#endif
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SCHED_TASK(three_hz_loop, 3, 75),
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SCHED_TASK(compass_accumulate, 100, 100),
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SCHED_TASK_CLASS(AP_Baro, &copter.barometer, accumulate, 50, 90),
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@ -984,7 +984,9 @@ private:
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#endif
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ModeThrow mode_throw;
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ModeGuidedNoGPS mode_guided_nogps;
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#if MODE_SMARTRTL_ENABLED == ENABLED
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ModeSmartRTL mode_smartrtl;
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#endif
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#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
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ModeFlowHold mode_flowhold;
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#endif
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@ -944,9 +944,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
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AP_SUBGROUPINFO(toy_mode, "TMODE", 20, ParametersG2, ToyMode),
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#endif
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#if MODE_SMARTRTL_ENABLED == ENABLED
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// @Group: SRTL_
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// @Path: ../libraries/AP_SmartRTL/AP_SmartRTL.cpp
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AP_SUBGROUPINFO(smart_rtl, "SRTL_", 21, ParametersG2, AP_SmartRTL),
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#endif
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#if WINCH_ENABLED == ENABLED
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// @Group: WENC
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@ -997,8 +999,9 @@ ParametersG2::ParametersG2(void)
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#if ADVANCED_FAILSAFE == ENABLED
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,afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
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#endif
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#if MODE_SMARTRTL_ENABLED == ENABLED
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,smart_rtl(copter.ahrs)
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,temp_calibration(copter.barometer, copter.ins)
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#endif
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#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
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,mode_flowhold_ptr(&copter.mode_flowhold)
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#endif
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@ -549,8 +549,10 @@ public:
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// control over servo output ranges
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SRV_Channels servo_channels;
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#if MODE_SMARTRTL_ENABLED == ENABLED
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// Safe RTL library
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AP_SmartRTL smart_rtl;
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#endif
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// wheel encoder and winch
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#if WINCH_ENABLED == ENABLED
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@ -35,7 +35,9 @@ void Copter::set_home_to_current_location_inflight() {
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return;
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}
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// we have successfully set AHRS home, set it for SmartRTL
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#if MODE_SMARTRTL_ENABLED == ENABLED
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g2.smart_rtl.set_home(true);
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#endif
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}
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}
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@ -48,7 +50,9 @@ bool Copter::set_home_to_current_location(bool lock) {
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return false;
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}
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// we have successfully set AHRS home, set it for SmartRTL
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#if MODE_SMARTRTL_ENABLED == ENABLED
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g2.smart_rtl.set_home(true);
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#endif
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return true;
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}
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return false;
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@ -279,6 +279,12 @@
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# define MODE_POSHOLD_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// SmartRTL - allows vehicle to retrace a (loop-eliminated) breadcrumb home
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#ifndef MODE_SMARTRTL_ENABLED
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# define MODE_SMARTRTL_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// RADIO CONFIGURATION
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//////////////////////////////////////////////////////////////////////////////
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@ -118,9 +118,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
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ret = &mode_guided_nogps;
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break;
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#if MODE_SMARTRTL_ENABLED == ENABLED
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case SMART_RTL:
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ret = &mode_smartrtl;
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break;
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#endif
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#if OPTFLOW == ENABLED
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case FLOWHOLD:
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@ -249,10 +251,12 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
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// cancel any takeoffs in progress
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takeoff_stop();
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#if MODE_SMARTRTL_ENABLED == ENABLED
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// call smart_rtl cleanup
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if (old_flightmode == &mode_smartrtl) {
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mode_smartrtl.exit();
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}
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#endif
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#if FRAME_CONFIG == HELI_FRAME
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// firmly reset the flybar passthrough to false when exiting acro mode.
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@ -1,5 +1,7 @@
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#include "Copter.h"
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#if MODE_SMARTRTL_ENABLED == ENABLED
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/*
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* Init and run calls for Smart_RTL flight mode
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*
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@ -147,3 +149,5 @@ int32_t Copter::ModeSmartRTL::wp_bearing() const
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{
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return wp_nav->get_wp_bearing_to_destination();
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}
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#endif
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@ -193,7 +193,9 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
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update_super_simple_bearing(false);
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// Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
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#if MODE_SMARTRTL_ENABLED == ENABLED
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g2.smart_rtl.set_home(position_ok());
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#endif
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// enable gps velocity based centrefugal force compensation
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ahrs.set_correct_centrifugal(true);
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@ -236,8 +236,10 @@ void Copter::init_ardupilot()
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mission.init();
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#endif
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#if MODE_SMARTRTL_ENABLED == ENABLED
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// initialize SmartRTL
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g2.smart_rtl.init();
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#endif
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// initialise DataFlash library
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#if MODE_AUTO_ENABLED == ENABLED
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