mirror of https://github.com/ArduPilot/ardupilot
Copter: Flip mode is an option.
Copter: Flip mode is an option.
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@ -33,6 +33,7 @@
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//#define MODE_BRAKE_ENABLED DISABLED // disable brake mode support
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//#define MODE_CIRCLE_ENABLED DISABLED // disable circle mode support
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//#define MODE_DRIFT_ENABLED DISABLED // disable drift mode support
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//#define MODE_FLIP_ENABLED DISABLED // disable flip mode support
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//#define MODE_FOLLOW_ENABLED DISABLED // disable follow mode support
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//#define MODE_GUIDED_ENABLED DISABLED // disable guided mode support
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//#define MODE_GUIDED_NOGPS_ENABLED DISABLED // disable guided/nogps mode support
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@ -924,7 +924,9 @@ private:
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#if MODE_DRIFT_ENABLED == ENABLED
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ModeDrift mode_drift;
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#endif
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#if MODE_FLIP_ENABLED == ENABLED
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ModeFlip mode_flip;
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#endif
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#if MODE_FOLLOW_ENABLED == ENABLED
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ModeFollow mode_follow;
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#endif
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@ -295,6 +295,12 @@
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# define MODE_DRIFT_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// flip - fly vehicle in flip in pitch and roll direction mode
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#ifndef MODE_FLIP_ENABLED
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# define MODE_FLIP_ENABLED ENABLED
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#endif
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//////////////////////////////////////////////////////////////////////////////
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// Follow - follow another vehicle or GCS
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#ifndef MODE_FOLLOW_ENABLED
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@ -97,9 +97,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
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break;
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#endif
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#if MODE_FLIP_ENABLED == ENABLED
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case FLIP:
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ret = &mode_flip;
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break;
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#endif
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#if AUTOTUNE_ENABLED == ENABLED
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case AUTOTUNE:
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@ -1,5 +1,7 @@
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#include "Copter.h"
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#if MODE_FLIP_ENABLED == ENABLED
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/*
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* Init and run calls for flip flight mode
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* original implementation in 2010 by Jose Julio
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@ -222,3 +224,5 @@ void Copter::ModeFlip::run()
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// output pilot's throttle without angle boost
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attitude_control->set_throttle_out(throttle_out, false, g.throttle_filt);
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}
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#endif
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