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Copter: move control_mode_t into being Mode::Number enum class

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Fixes this compiler error:

In file included from ../../ArduCopter/sensors.cpp:1:
In file included from ../../ArduCopter/Copter.h:195:
../../ArduCopter/mode.h:1291:9: fatal error: declaration shadows a variable in the global namespace [-Wshadow]
        AUTO,           // after A and B defined, pilot toggle the switch from one side to the other, vehicle flies autonomously
        ^
../../ArduCopter/defines.h:38:5: note: previous declaration is here
    AUTO =          3,  // fully automatic waypoint control using mission commands
    ^
1 error generated.
This commit is contained in:
Peter Barker 2019-09-08 09:33:56 +10:00 committed by Randy Mackay
parent 6193d6cf69
commit b4537bebd8
37 changed files with 315 additions and 299 deletions
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8
ArduCopter/AP_Arming.cpp
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@ -509,7 +509,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
} }
#endif #endif
control_mode_t control_mode = copter.control_mode; Mode::Number control_mode = copter.control_mode;
// always check if the current mode allows arming // always check if the current mode allows arming
if (!copter.flightmode->allows_arming(method == AP_Arming::Method::MAVLINK)) { if (!copter.flightmode->allows_arming(method == AP_Arming::Method::MAVLINK)) {
@ -576,7 +576,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
} }
// check throttle is not too high - skips checks if arming from GCS in Guided // check throttle is not too high - skips checks if arming from GCS in Guided
if (!(method == AP_Arming::Method::MAVLINK && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) { if (!(method == AP_Arming::Method::MAVLINK && (control_mode == Mode::Number::GUIDED || control_mode == Mode::Number::GUIDED_NOGPS))) {
// above top of deadband is too always high // above top of deadband is too always high
if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) { if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) {
check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item); check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);
@ -584,7 +584,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
} }
// in manual modes throttle must be at zero // in manual modes throttle must be at zero
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
if ((copter.flightmode->has_manual_throttle() || control_mode == DRIFT) && copter.channel_throttle->get_control_in() > 0) { if ((copter.flightmode->has_manual_throttle() || control_mode == Mode::Number::DRIFT) && copter.channel_throttle->get_control_in() > 0) {
check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item); check_failed(ARMING_CHECK_RC, true, "%s too high", rc_item);
return false; return false;
} }
@ -698,7 +698,7 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
AP::logger().Write_Event(DATA_ARMED); AP::logger().Write_Event(DATA_ARMED);
// log flight mode in case it was changed while vehicle was disarmed // log flight mode in case it was changed while vehicle was disarmed
AP::logger().Write_Mode(copter.control_mode, copter.control_mode_reason); AP::logger().Write_Mode((uint8_t)copter.control_mode, copter.control_mode_reason);
// re-enable failsafe // re-enable failsafe
copter.failsafe_enable(); copter.failsafe_enable();

2
ArduCopter/Attitude.cpp
View File

@ -43,7 +43,7 @@ void Copter::update_throttle_hover()
} }
// do not update in manual throttle modes or Drift // do not update in manual throttle modes or Drift
if (flightmode->has_manual_throttle() || (control_mode == DRIFT)) { if (flightmode->has_manual_throttle() || (control_mode == Mode::Number::DRIFT)) {
return; return;
} }

2
ArduCopter/Copter.cpp
View File

@ -587,7 +587,7 @@ void Copter::publish_osd_info()
Copter::Copter(void) Copter::Copter(void)
: logger(g.log_bitmask), : logger(g.log_bitmask),
flight_modes(&g.flight_mode1), flight_modes(&g.flight_mode1),
control_mode(STABILIZE), control_mode(Mode::Number::STABILIZE),
simple_cos_yaw(1.0f), simple_cos_yaw(1.0f),
super_simple_cos_yaw(1.0), super_simple_cos_yaw(1.0),
land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF), land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF),

32
ArduCopter/Copter.h
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@ -83,6 +83,18 @@
#include "defines.h" #include "defines.h"
#include "config.h" #include "config.h"
#if FRAME_CONFIG == HELI_FRAME
#define AC_AttitudeControl_t AC_AttitudeControl_Heli
#else
#define AC_AttitudeControl_t AC_AttitudeControl_Multi
#endif
#if FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli
#else
#define MOTOR_CLASS AP_MotorsMulticopter
#endif
#include "RC_Channel.h" // RC Channel Library #include "RC_Channel.h" // RC Channel Library
#include "GCS_Mavlink.h" #include "GCS_Mavlink.h"
@ -180,18 +192,6 @@
#include <SITL/SITL.h> #include <SITL/SITL.h>
#endif #endif
#if FRAME_CONFIG == HELI_FRAME
#define AC_AttitudeControl_t AC_AttitudeControl_Heli
#else
#define AC_AttitudeControl_t AC_AttitudeControl_Multi
#endif
#if FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli
#else
#define MOTOR_CLASS AP_MotorsMulticopter
#endif
#include "mode.h" #include "mode.h"
class Copter : public AP_HAL::HAL::Callbacks { class Copter : public AP_HAL::HAL::Callbacks {
@ -387,10 +387,10 @@ private:
// This is the state of the flight control system // This is the state of the flight control system
// There are multiple states defined such as STABILIZE, ACRO, // There are multiple states defined such as STABILIZE, ACRO,
control_mode_t control_mode; Mode::Number control_mode;
mode_reason_t control_mode_reason = MODE_REASON_UNKNOWN; mode_reason_t control_mode_reason = MODE_REASON_UNKNOWN;
control_mode_t prev_control_mode; Mode::Number prev_control_mode;
mode_reason_t prev_control_mode_reason = MODE_REASON_UNKNOWN; mode_reason_t prev_control_mode_reason = MODE_REASON_UNKNOWN;
RCMapper rcmap; RCMapper rcmap;
@ -777,7 +777,7 @@ private:
void log_init(void); void log_init(void);
// mode.cpp // mode.cpp
bool set_mode(control_mode_t mode, mode_reason_t reason); bool set_mode(Mode::Number mode, mode_reason_t reason);
void update_flight_mode(); void update_flight_mode();
void notify_flight_mode(); void notify_flight_mode();
@ -959,7 +959,7 @@ private:
#endif #endif
// mode.cpp // mode.cpp
Mode *mode_from_mode_num(const uint8_t mode); Mode *mode_from_mode_num(const Mode::Number mode);
void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode); void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode);
public: public:

32
ArduCopter/GCS_Copter.cpp
View File

@ -81,25 +81,25 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
switch (copter.control_mode) { switch (copter.control_mode) {
case AUTO: case Mode::Number::AUTO:
case AVOID_ADSB: case Mode::Number::AVOID_ADSB:
case GUIDED: case Mode::Number::GUIDED:
case LOITER: case Mode::Number::LOITER:
case RTL: case Mode::Number::RTL:
case CIRCLE: case Mode::Number::CIRCLE:
case LAND: case Mode::Number::LAND:
case POSHOLD: case Mode::Number::POSHOLD:
case BRAKE: case Mode::Number::BRAKE:
case THROW: case Mode::Number::THROW:
case SMART_RTL: case Mode::Number::SMART_RTL:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
break; break;
case ALT_HOLD: case Mode::Number::ALT_HOLD:
case GUIDED_NOGPS: case Mode::Number::GUIDED_NOGPS:
case SPORT: case Mode::Number::SPORT:
case AUTOTUNE: case Mode::Number::AUTOTUNE:
case FLOWHOLD: case Mode::Number::FLOWHOLD:
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
break; break;
default: default:

49
ArduCopter/GCS_Mavlink.cpp
View File

@ -29,16 +29,16 @@ MAV_MODE GCS_MAVLINK_Copter::base_mode() const
// the APM flight mode and has a well defined meaning in the // the APM flight mode and has a well defined meaning in the
// ArduPlane documentation // ArduPlane documentation
switch (copter.control_mode) { switch (copter.control_mode) {
case AUTO: case Mode::Number::AUTO:
case RTL: case Mode::Number::RTL:
case LOITER: case Mode::Number::LOITER:
case AVOID_ADSB: case Mode::Number::AVOID_ADSB:
case FOLLOW: case Mode::Number::FOLLOW:
case GUIDED: case Mode::Number::GUIDED:
case CIRCLE: case Mode::Number::CIRCLE:
case POSHOLD: case Mode::Number::POSHOLD:
case BRAKE: case Mode::Number::BRAKE:
case SMART_RTL: case Mode::Number::SMART_RTL:
_base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; _base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what // note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
// APM does in any mode, as that is defined as "system finds its own goal // APM does in any mode, as that is defined as "system finds its own goal
@ -69,7 +69,7 @@ MAV_MODE GCS_MAVLINK_Copter::base_mode() const
uint32_t GCS_Copter::custom_mode() const uint32_t GCS_Copter::custom_mode() const
{ {
return copter.control_mode; return (uint32_t)copter.control_mode;
} }
MAV_STATE GCS_MAVLINK_Copter::system_status() const MAV_STATE GCS_MAVLINK_Copter::system_status() const
@ -628,19 +628,19 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
} }
case MAV_CMD_NAV_LOITER_UNLIM: case MAV_CMD_NAV_LOITER_UNLIM:
if (!copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) { if (!copter.set_mode(Mode::Number::LOITER, MODE_REASON_GCS_COMMAND)) {
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_RETURN_TO_LAUNCH: case MAV_CMD_NAV_RETURN_TO_LAUNCH:
if (!copter.set_mode(RTL, MODE_REASON_GCS_COMMAND)) { if (!copter.set_mode(Mode::Number::RTL, MODE_REASON_GCS_COMMAND)) {
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_LAND: case MAV_CMD_NAV_LAND:
if (!copter.set_mode(LAND, MODE_REASON_GCS_COMMAND)) { if (!copter.set_mode(Mode::Number::LAND, MODE_REASON_GCS_COMMAND)) {
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
@ -691,7 +691,8 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
#if MODE_AUTO_ENABLED == ENABLED #if MODE_AUTO_ENABLED == ENABLED
case MAV_CMD_MISSION_START: case MAV_CMD_MISSION_START:
if (copter.motors->armed() && copter.set_mode(AUTO, MODE_REASON_GCS_COMMAND)) { if (copter.motors->armed() &&
copter.set_mode(Mode::Number::AUTO, MODE_REASON_GCS_COMMAND)) {
copter.set_auto_armed(true); copter.set_auto_armed(true);
if (copter.mode_auto.mission.state() != AP_Mission::MISSION_RUNNING) { if (copter.mode_auto.mission.state() != AP_Mission::MISSION_RUNNING) {
copter.mode_auto.mission.start_or_resume(); copter.mode_auto.mission.start_or_resume();
@ -787,8 +788,8 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
} }
// set mode to Loiter or fall back to AltHold // set mode to Loiter or fall back to AltHold
if (!copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) { if (!copter.set_mode(Mode::Number::LOITER, MODE_REASON_GCS_COMMAND)) {
copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND); copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_GCS_COMMAND);
} }
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
@ -804,12 +805,12 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
copter.arming.arm(AP_Arming::Method::MAVLINK); copter.arming.arm(AP_Arming::Method::MAVLINK);
} else if (copter.ap.land_complete) { } else if (copter.ap.land_complete) {
// if armed and landed, takeoff // if armed and landed, takeoff
if (copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) { if (copter.set_mode(Mode::Number::LOITER, MODE_REASON_GCS_COMMAND)) {
copter.flightmode->do_user_takeoff(packet.param1*100, true); copter.flightmode->do_user_takeoff(packet.param1*100, true);
} }
} else { } else {
// if flying, land // if flying, land
copter.set_mode(LAND, MODE_REASON_GCS_COMMAND); copter.set_mode(Mode::Number::LAND, MODE_REASON_GCS_COMMAND);
} }
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
@ -827,17 +828,17 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
} else { } else {
// assume that shots modes are all done in guided. // assume that shots modes are all done in guided.
// NOTE: this may need to change if we add a non-guided shot mode // NOTE: this may need to change if we add a non-guided shot mode
bool shot_mode = (!is_zero(packet.param1) && (copter.control_mode == GUIDED || copter.control_mode == GUIDED_NOGPS)); bool shot_mode = (!is_zero(packet.param1) && (copter.control_mode == Mode::Number::GUIDED || copter.control_mode == Mode::Number::GUIDED_NOGPS));
if (!shot_mode) { if (!shot_mode) {
#if MODE_BRAKE_ENABLED == ENABLED #if MODE_BRAKE_ENABLED == ENABLED
if (copter.set_mode(BRAKE, MODE_REASON_GCS_COMMAND)) { if (copter.set_mode(Mode::Number::BRAKE, MODE_REASON_GCS_COMMAND)) {
copter.mode_brake.timeout_to_loiter_ms(2500); copter.mode_brake.timeout_to_loiter_ms(2500);
} else { } else {
copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND); copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_GCS_COMMAND);
} }
#else #else
copter.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND); copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_GCS_COMMAND);
#endif #endif
} else { } else {
// SoloLink is expected to handle pause in shots // SoloLink is expected to handle pause in shots
@ -1312,7 +1313,7 @@ bool GCS_MAVLINK_Copter::set_mode(const uint8_t mode)
return false; return false;
} }
#endif #endif
return copter.set_mode((control_mode_t)mode, MODE_REASON_GCS_COMMAND); return copter.set_mode((Mode::Number)mode, MODE_REASON_GCS_COMMAND);
} }
float GCS_MAVLINK_Copter::vfr_hud_alt() const float GCS_MAVLINK_Copter::vfr_hud_alt() const

2
ArduCopter/Log.cpp
View File

@ -415,7 +415,7 @@ void Copter::Log_Write_Vehicle_Startup_Messages()
{ {
// only 200(?) bytes are guaranteed by AP_Logger // only 200(?) bytes are guaranteed by AP_Logger
logger.Write_MessageF("Frame: %s", get_frame_string()); logger.Write_MessageF("Frame: %s", get_frame_string());
logger.Write_Mode(control_mode, control_mode_reason); logger.Write_Mode((uint8_t)control_mode, control_mode_reason);
ahrs.Log_Write_Home_And_Origin(); ahrs.Log_Write_Home_And_Origin();
gps.Write_AP_Logger_Log_Startup_messages(); gps.Write_AP_Logger_Log_Startup_messages();
} }

12
ArduCopter/Parameters.cpp
View File

@ -264,42 +264,42 @@ const AP_Param::Info Copter::var_info[] = {
// @Description: Flight mode when Channel 5 pwm is <= 1230 // @Description: Flight mode when Channel 5 pwm is <= 1230
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag
// @User: Standard // @User: Standard
GSCALAR(flight_mode1, "FLTMODE1", FLIGHT_MODE_1), GSCALAR(flight_mode1, "FLTMODE1", (uint8_t)FLIGHT_MODE_1),
// @Param: FLTMODE2 // @Param: FLTMODE2
// @DisplayName: Flight Mode 2 // @DisplayName: Flight Mode 2
// @Description: Flight mode when Channel 5 pwm is >1230, <= 1360 // @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag
// @User: Standard // @User: Standard
GSCALAR(flight_mode2, "FLTMODE2", FLIGHT_MODE_2), GSCALAR(flight_mode2, "FLTMODE2", (uint8_t)FLIGHT_MODE_2),
// @Param: FLTMODE3 // @Param: FLTMODE3
// @DisplayName: Flight Mode 3 // @DisplayName: Flight Mode 3
// @Description: Flight mode when Channel 5 pwm is >1360, <= 1490 // @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag
// @User: Standard // @User: Standard
GSCALAR(flight_mode3, "FLTMODE3", FLIGHT_MODE_3), GSCALAR(flight_mode3, "FLTMODE3", (uint8_t)FLIGHT_MODE_3),
// @Param: FLTMODE4 // @Param: FLTMODE4
// @DisplayName: Flight Mode 4 // @DisplayName: Flight Mode 4
// @Description: Flight mode when Channel 5 pwm is >1490, <= 1620 // @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag
// @User: Standard // @User: Standard
GSCALAR(flight_mode4, "FLTMODE4", FLIGHT_MODE_4), GSCALAR(flight_mode4, "FLTMODE4", (uint8_t)FLIGHT_MODE_4),
// @Param: FLTMODE5 // @Param: FLTMODE5
// @DisplayName: Flight Mode 5 // @DisplayName: Flight Mode 5
// @Description: Flight mode when Channel 5 pwm is >1620, <= 1749 // @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag
// @User: Standard // @User: Standard
GSCALAR(flight_mode5, "FLTMODE5", FLIGHT_MODE_5), GSCALAR(flight_mode5, "FLTMODE5", (uint8_t)FLIGHT_MODE_5),
// @Param: FLTMODE6 // @Param: FLTMODE6
// @DisplayName: Flight Mode 6 // @DisplayName: Flight Mode 6
// @Description: Flight mode when Channel 5 pwm is >=1750 // @Description: Flight mode when Channel 5 pwm is >=1750
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag
// @User: Standard // @User: Standard
GSCALAR(flight_mode6, "FLTMODE6", FLIGHT_MODE_6), GSCALAR(flight_mode6, "FLTMODE6", (uint8_t)FLIGHT_MODE_6),
// @Param: FLTMODE_CH // @Param: FLTMODE_CH
// @DisplayName: Flightmode channel // @DisplayName: Flightmode channel

1
ArduCopter/Parameters.h
View File

@ -1,6 +1,7 @@
#pragma once #pragma once
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include "RC_Channel.h"
#if GRIPPER_ENABLED == ENABLED #if GRIPPER_ENABLED == ENABLED
# include <AP_Gripper/AP_Gripper.h> # include <AP_Gripper/AP_Gripper.h>

44
ArduCopter/RC_Channel.cpp
View File

@ -20,7 +20,7 @@ void RC_Channel_Copter::mode_switch_changed(modeswitch_pos_t new_pos)
return; return;
} }
if (!copter.set_mode((control_mode_t)copter.flight_modes[new_pos].get(), MODE_REASON_TX_COMMAND)) { if (!copter.set_mode((Mode::Number)copter.flight_modes[new_pos].get(), MODE_REASON_TX_COMMAND)) {
// alert user to mode change failure // alert user to mode change failure
if (copter.ap.initialised) { if (copter.ap.initialised) {
AP_Notify::events.user_mode_change_failed = 1; AP_Notify::events.user_mode_change_failed = 1;
@ -117,7 +117,7 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const aux_
// do_aux_function_change_mode - change mode based on an aux switch // do_aux_function_change_mode - change mode based on an aux switch
// being moved // being moved
void RC_Channel_Copter::do_aux_function_change_mode(const control_mode_t mode, void RC_Channel_Copter::do_aux_function_change_mode(const Mode::Number mode,
const aux_switch_pos_t ch_flag) const aux_switch_pos_t ch_flag)
{ {
switch(ch_flag) { switch(ch_flag) {
@ -149,7 +149,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::FLIP: case AUX_FUNC::FLIP:
// flip if switch is on, positive throttle and we're actually flying // flip if switch is on, positive throttle and we're actually flying
if (ch_flag == aux_switch_pos_t::HIGH) { if (ch_flag == aux_switch_pos_t::HIGH) {
copter.set_mode(control_mode_t::FLIP, MODE_REASON_TX_COMMAND); copter.set_mode(Mode::Number::FLIP, MODE_REASON_TX_COMMAND);
} }
break; break;
@ -165,12 +165,12 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::RTL: case AUX_FUNC::RTL:
#if MODE_RTL_ENABLED == ENABLED #if MODE_RTL_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::RTL, ch_flag); do_aux_function_change_mode(Mode::Number::RTL, ch_flag);
#endif #endif
break; break;
case AUX_FUNC::SAVE_TRIM: case AUX_FUNC::SAVE_TRIM:
if ((ch_flag == HIGH) && (copter.control_mode <= control_mode_t::ACRO) && (copter.channel_throttle->get_control_in() == 0)) { if ((ch_flag == HIGH) && (copter.control_mode <= Mode::Number::ACRO) && (copter.channel_throttle->get_control_in() == 0)) {
copter.save_trim(); copter.save_trim();
} }
break; break;
@ -181,7 +181,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
if (ch_flag == HIGH) { if (ch_flag == HIGH) {
// do not allow saving new waypoints while we're in auto or disarmed // do not allow saving new waypoints while we're in auto or disarmed
if (copter.control_mode == control_mode_t::AUTO || !copter.motors->armed()) { if (copter.control_mode == Mode::Number::AUTO || !copter.motors->armed()) {
return; return;
} }
@ -229,7 +229,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::AUTO: case AUX_FUNC::AUTO:
#if MODE_AUTO_ENABLED == ENABLED #if MODE_AUTO_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::AUTO, ch_flag); do_aux_function_change_mode(Mode::Number::AUTO, ch_flag);
#endif #endif
break; break;
@ -265,24 +265,24 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::AUTOTUNE: case AUX_FUNC::AUTOTUNE:
#if AUTOTUNE_ENABLED == ENABLED #if AUTOTUNE_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::AUTOTUNE, ch_flag); do_aux_function_change_mode(Mode::Number::AUTOTUNE, ch_flag);
#endif #endif
break; break;
case AUX_FUNC::LAND: case AUX_FUNC::LAND:
do_aux_function_change_mode(control_mode_t::LAND, ch_flag); do_aux_function_change_mode(Mode::Number::LAND, ch_flag);
break; break;
case AUX_FUNC::GUIDED: case AUX_FUNC::GUIDED:
do_aux_function_change_mode(control_mode_t::GUIDED, ch_flag); do_aux_function_change_mode(Mode::Number::GUIDED, ch_flag);
break; break;
case AUX_FUNC::LOITER: case AUX_FUNC::LOITER:
do_aux_function_change_mode(control_mode_t::LOITER, ch_flag); do_aux_function_change_mode(Mode::Number::LOITER, ch_flag);
break; break;
case AUX_FUNC::FOLLOW: case AUX_FUNC::FOLLOW:
do_aux_function_change_mode(control_mode_t::FOLLOW, ch_flag); do_aux_function_change_mode(Mode::Number::FOLLOW, ch_flag);
break; break;
case AUX_FUNC::PARACHUTE_ENABLE: case AUX_FUNC::PARACHUTE_ENABLE:
@ -354,13 +354,13 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::BRAKE: case AUX_FUNC::BRAKE:
#if MODE_BRAKE_ENABLED == ENABLED #if MODE_BRAKE_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::BRAKE, ch_flag); do_aux_function_change_mode(Mode::Number::BRAKE, ch_flag);
#endif #endif
break; break;
case AUX_FUNC::THROW: case AUX_FUNC::THROW:
#if MODE_THROW_ENABLED == ENABLED #if MODE_THROW_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::THROW, ch_flag); do_aux_function_change_mode(Mode::Number::THROW, ch_flag);
#endif #endif
break; break;
@ -412,7 +412,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::SMART_RTL: case AUX_FUNC::SMART_RTL:
#if MODE_SMARTRTL_ENABLED == ENABLED #if MODE_SMARTRTL_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::SMART_RTL, ch_flag); do_aux_function_change_mode(Mode::Number::SMART_RTL, ch_flag);
#endif #endif
break; break;
@ -487,7 +487,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::ZIGZAG: case AUX_FUNC::ZIGZAG:
#if MODE_ZIGZAG_ENABLED == ENABLED #if MODE_ZIGZAG_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::ZIGZAG, ch_flag); do_aux_function_change_mode(Mode::Number::ZIGZAG, ch_flag);
#endif #endif
break; break;
@ -510,34 +510,34 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
break; break;
case AUX_FUNC::STABILIZE: case AUX_FUNC::STABILIZE:
do_aux_function_change_mode(control_mode_t::STABILIZE, ch_flag); do_aux_function_change_mode(Mode::Number::STABILIZE, ch_flag);
break; break;
case AUX_FUNC::POSHOLD: case AUX_FUNC::POSHOLD:
#if MODE_POSHOLD_ENABLED == ENABLED #if MODE_POSHOLD_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::POSHOLD, ch_flag); do_aux_function_change_mode(Mode::Number::POSHOLD, ch_flag);
#endif #endif
break; break;
case AUX_FUNC::ALTHOLD: case AUX_FUNC::ALTHOLD:
do_aux_function_change_mode(control_mode_t::ALT_HOLD, ch_flag); do_aux_function_change_mode(Mode::Number::ALT_HOLD, ch_flag);
break; break;
case AUX_FUNC::FLOWHOLD: case AUX_FUNC::FLOWHOLD:
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
do_aux_function_change_mode(control_mode_t::FLOWHOLD, ch_flag); do_aux_function_change_mode(Mode::Number::FLOWHOLD, ch_flag);
#endif #endif
break; break;
case AUX_FUNC::CIRCLE: case AUX_FUNC::CIRCLE:
#if MODE_CIRCLE_ENABLED == ENABLED #if MODE_CIRCLE_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::CIRCLE, ch_flag); do_aux_function_change_mode(Mode::Number::CIRCLE, ch_flag);
#endif #endif
break; break;
case AUX_FUNC::DRIFT: case AUX_FUNC::DRIFT:
#if MODE_DRIFT_ENABLED == ENABLED #if MODE_DRIFT_ENABLED == ENABLED
do_aux_function_change_mode(control_mode_t::DRIFT, ch_flag); do_aux_function_change_mode(Mode::Number::DRIFT, ch_flag);
#endif #endif
break; break;

4
ArduCopter/RC_Channel.h
View File

@ -1,7 +1,7 @@
#pragma once #pragma once
#include <RC_Channel/RC_Channel.h> #include <RC_Channel/RC_Channel.h>
#include "Copter.h" #include "mode.h"
class RC_Channel_Copter : public RC_Channel class RC_Channel_Copter : public RC_Channel
{ {
@ -15,7 +15,7 @@ protected:
private: private:
void do_aux_function_change_mode(const control_mode_t mode, void do_aux_function_change_mode(const Mode::Number mode,
const aux_switch_pos_t ch_flag); const aux_switch_pos_t ch_flag);
// called when the mode switch changes position: // called when the mode switch changes position:

28
ArduCopter/avoidance_adsb.cpp
View File

@ -24,11 +24,11 @@ MAV_COLLISION_ACTION AP_Avoidance_Copter::handle_avoidance(const AP_Avoidance::O
} }
// take no action in some flight modes // take no action in some flight modes
if (copter.control_mode == LAND || if (copter.control_mode == Mode::Number::LAND ||
#if MODE_THROW_ENABLED == ENABLED #if MODE_THROW_ENABLED == ENABLED
copter.control_mode == THROW || copter.control_mode == Mode::Number::THROW ||
#endif #endif
copter.control_mode == FLIP) { copter.control_mode == Mode::Number::FLIP) {
actual_action = MAV_COLLISION_ACTION_NONE; actual_action = MAV_COLLISION_ACTION_NONE;
} }
@ -44,7 +44,7 @@ MAV_COLLISION_ACTION AP_Avoidance_Copter::handle_avoidance(const AP_Avoidance::O
case MAV_COLLISION_ACTION_RTL: case MAV_COLLISION_ACTION_RTL:
// attempt to switch to RTL, if this fails (i.e. flying in manual mode with bad position) do nothing // attempt to switch to RTL, if this fails (i.e. flying in manual mode with bad position) do nothing
if (failsafe_state_change) { if (failsafe_state_change) {
if (!copter.set_mode(RTL, MODE_REASON_AVOIDANCE)) { if (!copter.set_mode(Mode::Number::RTL, MODE_REASON_AVOIDANCE)) {
actual_action = MAV_COLLISION_ACTION_NONE; actual_action = MAV_COLLISION_ACTION_NONE;
} }
} }
@ -53,7 +53,7 @@ MAV_COLLISION_ACTION AP_Avoidance_Copter::handle_avoidance(const AP_Avoidance::O
case MAV_COLLISION_ACTION_HOVER: case MAV_COLLISION_ACTION_HOVER:
// attempt to switch to Loiter, if this fails (i.e. flying in manual mode with bad position) do nothing // attempt to switch to Loiter, if this fails (i.e. flying in manual mode with bad position) do nothing
if (failsafe_state_change) { if (failsafe_state_change) {
if (!copter.set_mode(LOITER, MODE_REASON_AVOIDANCE)) { if (!copter.set_mode(Mode::Number::LOITER, MODE_REASON_AVOIDANCE)) {
actual_action = MAV_COLLISION_ACTION_NONE; actual_action = MAV_COLLISION_ACTION_NONE;
} }
} }
@ -118,12 +118,12 @@ void AP_Avoidance_Copter::handle_recovery(uint8_t recovery_action)
break; break;
case AP_AVOIDANCE_RECOVERY_RTL: case AP_AVOIDANCE_RECOVERY_RTL:
set_mode_else_try_RTL_else_LAND(RTL); set_mode_else_try_RTL_else_LAND(Mode::Number::RTL);
break; break;
case AP_AVOIDANCE_RECOVERY_RESUME_IF_AUTO_ELSE_LOITER: case AP_AVOIDANCE_RECOVERY_RESUME_IF_AUTO_ELSE_LOITER:
if (prev_control_mode == AUTO) { if (prev_control_mode == Mode::Number::AUTO) {
set_mode_else_try_RTL_else_LAND(AUTO); set_mode_else_try_RTL_else_LAND(Mode::Number::AUTO);
} }
break; break;
@ -134,12 +134,12 @@ void AP_Avoidance_Copter::handle_recovery(uint8_t recovery_action)
} }
} }
void AP_Avoidance_Copter::set_mode_else_try_RTL_else_LAND(control_mode_t mode) void AP_Avoidance_Copter::set_mode_else_try_RTL_else_LAND(Mode::Number mode)
{ {
if (!copter.set_mode(mode, MODE_REASON_AVOIDANCE_RECOVERY)) { if (!copter.set_mode(mode, MODE_REASON_AVOIDANCE_RECOVERY)) {
// on failure RTL or LAND // on failure RTL or LAND
if (!copter.set_mode(RTL, MODE_REASON_AVOIDANCE_RECOVERY)) { if (!copter.set_mode(Mode::Number::RTL, MODE_REASON_AVOIDANCE_RECOVERY)) {
copter.set_mode(LAND, MODE_REASON_AVOIDANCE_RECOVERY); copter.set_mode(Mode::Number::LAND, MODE_REASON_AVOIDANCE_RECOVERY);
} }
} }
} }
@ -148,15 +148,15 @@ void AP_Avoidance_Copter::set_mode_else_try_RTL_else_LAND(control_mode_t mode)
bool AP_Avoidance_Copter::check_flightmode(bool allow_mode_change) bool AP_Avoidance_Copter::check_flightmode(bool allow_mode_change)
{ {
// ensure copter is in avoid_adsb mode // ensure copter is in avoid_adsb mode
if (allow_mode_change && copter.control_mode != AVOID_ADSB) { if (allow_mode_change && copter.control_mode != Mode::Number::AVOID_ADSB) {
if (!copter.set_mode(AVOID_ADSB, MODE_REASON_AVOIDANCE)) { if (!copter.set_mode(Mode::Number::AVOID_ADSB, MODE_REASON_AVOIDANCE)) {
// failed to set mode so exit immediately // failed to set mode so exit immediately
return false; return false;
} }
} }
// check flight mode // check flight mode
return (copter.control_mode == AVOID_ADSB); return (copter.control_mode == Mode::Number::AVOID_ADSB);
} }
bool AP_Avoidance_Copter::handle_avoidance_vertical(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change) bool AP_Avoidance_Copter::handle_avoidance_vertical(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change)

4
ArduCopter/avoidance_adsb.h
View File

@ -17,7 +17,7 @@ public:
private: private:
// helper function to set modes and always succeed // helper function to set modes and always succeed
void set_mode_else_try_RTL_else_LAND(control_mode_t mode); void set_mode_else_try_RTL_else_LAND(Mode::Number mode);
protected: protected:
// override avoidance handler // override avoidance handler
@ -39,5 +39,5 @@ protected:
bool handle_avoidance_perpendicular(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change); bool handle_avoidance_perpendicular(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change);
// control mode before avoidance began // control mode before avoidance began
control_mode_t prev_control_mode = RTL; Mode::Number prev_control_mode = Mode::Number::RTL;
}; };

2
ArduCopter/baro_ground_effect.cpp
View File

@ -54,7 +54,7 @@ void Copter::update_ground_effect_detector(void)
bool small_angle_request = cosf(angle_target_rad.x)*cosf(angle_target_rad.y) > cosf(radians(7.5f)); bool small_angle_request = cosf(angle_target_rad.x)*cosf(angle_target_rad.y) > cosf(radians(7.5f));
bool xy_speed_low = (position_ok() || optflow_position_ok()) && xy_speed_cms <= 125.0f; bool xy_speed_low = (position_ok() || optflow_position_ok()) && xy_speed_cms <= 125.0f;
bool xy_speed_demand_low = pos_control->is_active_xy() && xy_des_speed_cms <= 125.0f; bool xy_speed_demand_low = pos_control->is_active_xy() && xy_des_speed_cms <= 125.0f;
bool slow_horizontal = xy_speed_demand_low || (xy_speed_low && !pos_control->is_active_xy()) || (control_mode == ALT_HOLD && small_angle_request); bool slow_horizontal = xy_speed_demand_low || (xy_speed_low && !pos_control->is_active_xy()) || (control_mode == Mode::Number::ALT_HOLD && small_angle_request);
bool descent_demanded = pos_control->is_active_z() && des_climb_rate_cms < 0.0f; bool descent_demanded = pos_control->is_active_z() && des_climb_rate_cms < 0.0f;
bool slow_descent_demanded = descent_demanded && des_climb_rate_cms >= -100.0f; bool slow_descent_demanded = descent_demanded && des_climb_rate_cms >= -100.0f;

12
ArduCopter/config.h
View File

@ -382,22 +382,22 @@
// //
#ifndef FLIGHT_MODE_1 #ifndef FLIGHT_MODE_1
# define FLIGHT_MODE_1 STABILIZE # define FLIGHT_MODE_1 Mode::Number::STABILIZE
#endif #endif
#ifndef FLIGHT_MODE_2 #ifndef FLIGHT_MODE_2
# define FLIGHT_MODE_2 STABILIZE # define FLIGHT_MODE_2 Mode::Number::STABILIZE
#endif #endif
#ifndef FLIGHT_MODE_3 #ifndef FLIGHT_MODE_3
# define FLIGHT_MODE_3 STABILIZE # define FLIGHT_MODE_3 Mode::Number::STABILIZE
#endif #endif
#ifndef FLIGHT_MODE_4 #ifndef FLIGHT_MODE_4
# define FLIGHT_MODE_4 STABILIZE # define FLIGHT_MODE_4 Mode::Number::STABILIZE
#endif #endif
#ifndef FLIGHT_MODE_5 #ifndef FLIGHT_MODE_5
# define FLIGHT_MODE_5 STABILIZE # define FLIGHT_MODE_5 Mode::Number::STABILIZE
#endif #endif
#ifndef FLIGHT_MODE_6 #ifndef FLIGHT_MODE_6
# define FLIGHT_MODE_6 STABILIZE # define FLIGHT_MODE_6 Mode::Number::STABILIZE
#endif #endif

4
ArduCopter/crash_check.cpp
View File

@ -24,7 +24,7 @@ void Copter::crash_check()
} }
// return immediately if we are not in an angle stabilize flight mode or we are flipping // return immediately if we are not in an angle stabilize flight mode or we are flipping
if (control_mode == ACRO || control_mode == FLIP) { if (control_mode == Mode::Number::ACRO || control_mode == Mode::Number::FLIP) {
crash_counter = 0; crash_counter = 0;
return; return;
} }
@ -152,7 +152,7 @@ void Copter::parachute_check()
} }
// return immediately if we are not in an angle stabilize flight mode or we are flipping // return immediately if we are not in an angle stabilize flight mode or we are flipping
if (control_mode == ACRO || control_mode == FLIP) { if (control_mode == Mode::Number::ACRO || control_mode == Mode::Number::FLIP) {
control_loss_count = 0; control_loss_count = 0;
return; return;
} }

26
ArduCopter/defines.h
View File

@ -30,32 +30,6 @@ enum autopilot_yaw_mode {
#define HIL_MODE_DISABLED 0 #define HIL_MODE_DISABLED 0
#define HIL_MODE_SENSORS 1 #define HIL_MODE_SENSORS 1
// Auto Pilot Modes enumeration
enum control_mode_t {
STABILIZE = 0, // manual airframe angle with manual throttle
ACRO = 1, // manual body-frame angular rate with manual throttle
ALT_HOLD = 2, // manual airframe angle with automatic throttle
AUTO = 3, // fully automatic waypoint control using mission commands
GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
LOITER = 5, // automatic horizontal acceleration with automatic throttle
RTL = 6, // automatic return to launching point
CIRCLE = 7, // automatic circular flight with automatic throttle
LAND = 9, // automatic landing with horizontal position control
DRIFT = 11, // semi-automous position, yaw and throttle control
SPORT = 13, // manual earth-frame angular rate control with manual throttle
FLIP = 14, // automatically flip the vehicle on the roll axis
AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude
SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps
FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder
FOLLOW = 23, // follow attempts to follow another vehicle or ground station
ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
};
enum mode_reason_t { enum mode_reason_t {
MODE_REASON_UNKNOWN=0, MODE_REASON_UNKNOWN=0,
MODE_REASON_TX_COMMAND, MODE_REASON_TX_COMMAND,

4
ArduCopter/ekf_check.cpp
View File

@ -144,7 +144,7 @@ void Copter::failsafe_ekf_event()
AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED); AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
// sometimes LAND *does* require GPS so ensure we are in non-GPS land // sometimes LAND *does* require GPS so ensure we are in non-GPS land
if (control_mode == LAND && landing_with_GPS()) { if (control_mode == Mode::Number::LAND && landing_with_GPS()) {
mode_land.do_not_use_GPS(); mode_land.do_not_use_GPS();
return; return;
} }
@ -158,7 +158,7 @@ void Copter::failsafe_ekf_event()
switch (g.fs_ekf_action) { switch (g.fs_ekf_action) {
case FS_EKF_ACTION_ALTHOLD: case FS_EKF_ACTION_ALTHOLD:
// AltHold // AltHold
if (failsafe.radio || !set_mode(ALT_HOLD, MODE_REASON_EKF_FAILSAFE)) { if (failsafe.radio || !set_mode(Mode::Number::ALT_HOLD, MODE_REASON_EKF_FAILSAFE)) {
set_mode_land_with_pause(MODE_REASON_EKF_FAILSAFE); set_mode_land_with_pause(MODE_REASON_EKF_FAILSAFE);
} }
break; break;

29
ArduCopter/events.cpp
View File

@ -14,9 +14,9 @@ void Copter::failsafe_radio_on_event()
if (should_disarm_on_failsafe()) { if (should_disarm_on_failsafe()) {
arming.disarm(); arming.disarm();
} else { } else {
if (control_mode == AUTO && g.failsafe_throttle == FS_THR_ENABLED_CONTINUE_MISSION) { if (control_mode == Mode::Number::AUTO && g.failsafe_throttle == FS_THR_ENABLED_CONTINUE_MISSION) {
// continue mission // continue mission
} else if (control_mode == LAND && } else if (flightmode->is_landing() &&
battery.has_failsafed() && battery.has_failsafed() &&
battery.get_highest_failsafe_priority() <= FAILSAFE_LAND_PRIORITY) { battery.get_highest_failsafe_priority() <= FAILSAFE_LAND_PRIORITY) {
// continue landing or other high priority failsafes // continue landing or other high priority failsafes
@ -98,7 +98,8 @@ void Copter::failsafe_gcs_check()
return; return;
} else if (RC_Channels::has_active_overrides()) { } else if (RC_Channels::has_active_overrides()) {
// GCS is currently telling us what to do! // GCS is currently telling us what to do!
} else if (control_mode == GUIDED || control_mode == GUIDED_NOGPS) { } else if (control_mode == Mode::Number::GUIDED ||
control_mode == Mode::Number::GUIDED_NOGPS) {
// GCS is currently telling us what to do! // GCS is currently telling us what to do!
} else { } else {
return; return;
@ -133,7 +134,8 @@ void Copter::failsafe_gcs_check()
if (should_disarm_on_failsafe()) { if (should_disarm_on_failsafe()) {
arming.disarm(); arming.disarm();
} else { } else {
if (control_mode == AUTO && g.failsafe_gcs == FS_GCS_ENABLED_CONTINUE_MISSION) { if (control_mode == Mode::Number::AUTO &&
g.failsafe_gcs == FS_GCS_ENABLED_CONTINUE_MISSION) {
// continue mission // continue mission
} else if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL) { } else if (g.failsafe_gcs == FS_GCS_ENABLED_ALWAYS_SMARTRTL_OR_RTL) {
set_mode_SmartRTL_or_RTL(MODE_REASON_GCS_FAILSAFE); set_mode_SmartRTL_or_RTL(MODE_REASON_GCS_FAILSAFE);
@ -156,7 +158,10 @@ void Copter::failsafe_gcs_off_event(void)
void Copter::failsafe_terrain_check() void Copter::failsafe_terrain_check()
{ {
// trigger with 5 seconds of failures while in AUTO mode // trigger with 5 seconds of failures while in AUTO mode
bool valid_mode = (control_mode == AUTO || control_mode == GUIDED || control_mode == GUIDED_NOGPS || control_mode == RTL); bool valid_mode = (control_mode == Mode::Number::AUTO ||
control_mode == Mode::Number::GUIDED ||
control_mode == Mode::Number::GUIDED_NOGPS ||
control_mode == Mode::Number::RTL);
bool timeout = (failsafe.terrain_last_failure_ms - failsafe.terrain_first_failure_ms) > FS_TERRAIN_TIMEOUT_MS; bool timeout = (failsafe.terrain_last_failure_ms - failsafe.terrain_first_failure_ms) > FS_TERRAIN_TIMEOUT_MS;
bool trigger_event = valid_mode && timeout; bool trigger_event = valid_mode && timeout;
@ -201,7 +206,7 @@ void Copter::failsafe_terrain_on_event()
if (should_disarm_on_failsafe()) { if (should_disarm_on_failsafe()) {
arming.disarm(); arming.disarm();
#if MODE_RTL_ENABLED == ENABLED #if MODE_RTL_ENABLED == ENABLED
} else if (control_mode == RTL) { } else if (control_mode == Mode::Number::RTL) {
mode_rtl.restart_without_terrain(); mode_rtl.restart_without_terrain();
#endif #endif
} else { } else {
@ -234,7 +239,7 @@ void Copter::gpsglitch_check()
void Copter::set_mode_RTL_or_land_with_pause(mode_reason_t reason) void Copter::set_mode_RTL_or_land_with_pause(mode_reason_t reason)
{ {
// attempt to switch to RTL, if this fails then switch to Land // attempt to switch to RTL, if this fails then switch to Land
if (!set_mode(RTL, reason)) { if (!set_mode(Mode::Number::RTL, reason)) {
// set mode to land will trigger mode change notification to pilot // set mode to land will trigger mode change notification to pilot
set_mode_land_with_pause(reason); set_mode_land_with_pause(reason);
} else { } else {
@ -248,7 +253,7 @@ void Copter::set_mode_RTL_or_land_with_pause(mode_reason_t reason)
void Copter::set_mode_SmartRTL_or_land_with_pause(mode_reason_t reason) void Copter::set_mode_SmartRTL_or_land_with_pause(mode_reason_t reason)
{ {
// attempt to switch to SMART_RTL, if this failed then switch to Land // attempt to switch to SMART_RTL, if this failed then switch to Land
if (!set_mode(SMART_RTL, reason)) { if (!set_mode(Mode::Number::SMART_RTL, reason)) {
gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Using Land Mode"); gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Using Land Mode");
set_mode_land_with_pause(reason); set_mode_land_with_pause(reason);
} else { } else {
@ -262,7 +267,7 @@ void Copter::set_mode_SmartRTL_or_RTL(mode_reason_t reason)
{ {
// attempt to switch to SmartRTL, if this failed then attempt to RTL // attempt to switch to SmartRTL, if this failed then attempt to RTL
// if that fails, then land // if that fails, then land
if (!set_mode(SMART_RTL, reason)) { if (!set_mode(Mode::Number::SMART_RTL, reason)) {
gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Trying RTL Mode"); gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL Unavailable, Trying RTL Mode");
set_mode_RTL_or_land_with_pause(reason); set_mode_RTL_or_land_with_pause(reason);
} else { } else {
@ -276,11 +281,11 @@ bool Copter::should_disarm_on_failsafe() {
} }
switch (control_mode) { switch (control_mode) {
case STABILIZE: case Mode::Number::STABILIZE:
case ACRO: case Mode::Number::ACRO:
// if throttle is zero OR vehicle is landed disarm motors // if throttle is zero OR vehicle is landed disarm motors
return ap.throttle_zero || ap.land_complete; return ap.throttle_zero || ap.land_complete;
case AUTO: case Mode::Number::AUTO:
// if mission has not started AND vehicle is landed, disarm motors // if mission has not started AND vehicle is landed, disarm motors
return !ap.auto_armed && ap.land_complete; return !ap.auto_armed && ap.land_complete;
default: default:

18
ArduCopter/fence.cpp
View File

@ -36,32 +36,32 @@ void Copter::fence_check()
// if more than 100m outside the fence just force a land // if more than 100m outside the fence just force a land
if (fence.get_breach_distance(new_breaches) > AC_FENCE_GIVE_UP_DISTANCE) { if (fence.get_breach_distance(new_breaches) > AC_FENCE_GIVE_UP_DISTANCE) {
set_mode(LAND, MODE_REASON_FENCE_BREACH); set_mode(Mode::Number::LAND, MODE_REASON_FENCE_BREACH);
} else { } else {
switch (fence_act) { switch (fence_act) {
case AC_FENCE_ACTION_RTL_AND_LAND: case AC_FENCE_ACTION_RTL_AND_LAND:
default: default:
// switch to RTL, if that fails then Land // switch to RTL, if that fails then Land
if (!set_mode(RTL, MODE_REASON_FENCE_BREACH)) { if (!set_mode(Mode::Number::RTL, MODE_REASON_FENCE_BREACH)) {
set_mode(LAND, MODE_REASON_FENCE_BREACH); set_mode(Mode::Number::LAND, MODE_REASON_FENCE_BREACH);
} }
break; break;
case AC_FENCE_ACTION_ALWAYS_LAND: case AC_FENCE_ACTION_ALWAYS_LAND:
// if always land option mode is specified, land // if always land option mode is specified, land
set_mode(LAND, MODE_REASON_FENCE_BREACH); set_mode(Mode::Number::LAND, MODE_REASON_FENCE_BREACH);
break; break;
case AC_FENCE_ACTION_SMART_RTL: case AC_FENCE_ACTION_SMART_RTL:
// Try SmartRTL, if that fails, RTL, if that fails Land // Try SmartRTL, if that fails, RTL, if that fails Land
if (!set_mode(SMART_RTL, MODE_REASON_FENCE_BREACH)) { if (!set_mode(Mode::Number::SMART_RTL, MODE_REASON_FENCE_BREACH)) {
if (!set_mode(RTL, MODE_REASON_FENCE_BREACH)) { if (!set_mode(Mode::Number::RTL, MODE_REASON_FENCE_BREACH)) {
set_mode(LAND, MODE_REASON_FENCE_BREACH); set_mode(Mode::Number::LAND, MODE_REASON_FENCE_BREACH);
} }
} }
break; break;
case AC_FENCE_ACTION_BRAKE: case AC_FENCE_ACTION_BRAKE:
// Try Brake, if that fails Land // Try Brake, if that fails Land
if (!set_mode(BRAKE, MODE_REASON_FENCE_BREACH)) { if (!set_mode(Mode::Number::BRAKE, MODE_REASON_FENCE_BREACH)) {
set_mode(LAND, MODE_REASON_FENCE_BREACH); set_mode(Mode::Number::LAND, MODE_REASON_FENCE_BREACH);
} }
break; break;
} }

18
ArduCopter/heli.cpp
View File

@ -24,7 +24,7 @@ void Copter::heli_init()
void Copter::check_dynamic_flight(void) void Copter::check_dynamic_flight(void)
{ {
if (motors->get_spool_state() != AP_Motors::SpoolState::THROTTLE_UNLIMITED || if (motors->get_spool_state() != AP_Motors::SpoolState::THROTTLE_UNLIMITED ||
control_mode == LAND || (control_mode==RTL && mode_rtl.state() == RTL_Land) || (control_mode == AUTO && mode_auto.mode() == Auto_Land)) { control_mode == Mode::Number::LAND || (control_mode==Mode::Number::RTL && mode_rtl.state() == RTL_Land) || (control_mode == Mode::Number::AUTO && mode_auto.mode() == Auto_Land)) {
heli_dynamic_flight_counter = 0; heli_dynamic_flight_counter = 0;
heli_flags.dynamic_flight = false; heli_flags.dynamic_flight = false;
return; return;
@ -94,21 +94,21 @@ void Copter::update_heli_control_dynamics(void)
void Copter::heli_update_landing_swash() void Copter::heli_update_landing_swash()
{ {
switch (control_mode) { switch (control_mode) {
case ACRO: case Mode::Number::ACRO:
case STABILIZE: case Mode::Number::STABILIZE:
case DRIFT: case Mode::Number::DRIFT:
case SPORT: case Mode::Number::SPORT:
// manual modes always uses full swash range // manual modes always uses full swash range
motors->set_collective_for_landing(false); motors->set_collective_for_landing(false);
break; break;
case LAND: case Mode::Number::LAND:
// landing always uses limit swash range // landing always uses limit swash range
motors->set_collective_for_landing(true); motors->set_collective_for_landing(true);
break; break;
case RTL: case Mode::Number::RTL:
case SMART_RTL: case Mode::Number::SMART_RTL:
if (mode_rtl.state() == RTL_Land) { if (mode_rtl.state() == RTL_Land) {
motors->set_collective_for_landing(true); motors->set_collective_for_landing(true);
}else{ }else{
@ -116,7 +116,7 @@ void Copter::heli_update_landing_swash()
} }
break; break;
case AUTO: case Mode::Number::AUTO:
if (mode_auto.mode() == Auto_Land) { if (mode_auto.mode() == Auto_Land) {
motors->set_collective_for_landing(true); motors->set_collective_for_landing(true);
}else{ }else{

64
ArduCopter/mode.cpp
View File

@ -28,133 +28,133 @@ Mode::Mode(void) :
float Mode::auto_takeoff_no_nav_alt_cm = 0; float Mode::auto_takeoff_no_nav_alt_cm = 0;
// return the static controller object corresponding to supplied mode // return the static controller object corresponding to supplied mode
Mode *Copter::mode_from_mode_num(const uint8_t mode) Mode *Copter::mode_from_mode_num(const Mode::Number mode)
{ {
Mode *ret = nullptr; Mode *ret = nullptr;
switch (mode) { switch (mode) {
#if MODE_ACRO_ENABLED == ENABLED #if MODE_ACRO_ENABLED == ENABLED
case ACRO: case Mode::Number::ACRO:
ret = &mode_acro; ret = &mode_acro;
break; break;
#endif #endif
case STABILIZE: case Mode::Number::STABILIZE:
ret = &mode_stabilize; ret = &mode_stabilize;
break; break;
case ALT_HOLD: case Mode::Number::ALT_HOLD:
ret = &mode_althold; ret = &mode_althold;
break; break;
#if MODE_AUTO_ENABLED == ENABLED #if MODE_AUTO_ENABLED == ENABLED
case AUTO: case Mode::Number::AUTO:
ret = &mode_auto; ret = &mode_auto;
break; break;
#endif #endif
#if MODE_CIRCLE_ENABLED == ENABLED #if MODE_CIRCLE_ENABLED == ENABLED
case CIRCLE: case Mode::Number::CIRCLE:
ret = &mode_circle; ret = &mode_circle;
break; break;
#endif #endif
#if MODE_LOITER_ENABLED == ENABLED #if MODE_LOITER_ENABLED == ENABLED
case LOITER: case Mode::Number::LOITER:
ret = &mode_loiter; ret = &mode_loiter;
break; break;
#endif #endif
#if MODE_GUIDED_ENABLED == ENABLED #if MODE_GUIDED_ENABLED == ENABLED
case GUIDED: case Mode::Number::GUIDED:
ret = &mode_guided; ret = &mode_guided;
break; break;
#endif #endif
case LAND: case Mode::Number::LAND:
ret = &mode_land; ret = &mode_land;
break; break;
#if MODE_RTL_ENABLED == ENABLED #if MODE_RTL_ENABLED == ENABLED
case RTL: case Mode::Number::RTL:
ret = &mode_rtl; ret = &mode_rtl;
break; break;
#endif #endif
#if MODE_DRIFT_ENABLED == ENABLED #if MODE_DRIFT_ENABLED == ENABLED
case DRIFT: case Mode::Number::DRIFT:
ret = &mode_drift; ret = &mode_drift;
break; break;
#endif #endif
#if MODE_SPORT_ENABLED == ENABLED #if MODE_SPORT_ENABLED == ENABLED
case SPORT: case Mode::Number::SPORT:
ret = &mode_sport; ret = &mode_sport;
break; break;
#endif #endif
#if MODE_FLIP_ENABLED == ENABLED #if MODE_FLIP_ENABLED == ENABLED
case FLIP: case Mode::Number::FLIP:
ret = &mode_flip; ret = &mode_flip;
break; break;
#endif #endif
#if AUTOTUNE_ENABLED == ENABLED #if AUTOTUNE_ENABLED == ENABLED
case AUTOTUNE: case Mode::Number::AUTOTUNE:
ret = &mode_autotune; ret = &mode_autotune;
break; break;
#endif #endif
#if MODE_POSHOLD_ENABLED == ENABLED #if MODE_POSHOLD_ENABLED == ENABLED
case POSHOLD: case Mode::Number::POSHOLD:
ret = &mode_poshold; ret = &mode_poshold;
break; break;
#endif #endif
#if MODE_BRAKE_ENABLED == ENABLED #if MODE_BRAKE_ENABLED == ENABLED
case BRAKE: case Mode::Number::BRAKE:
ret = &mode_brake; ret = &mode_brake;
break; break;
#endif #endif
#if MODE_THROW_ENABLED == ENABLED #if MODE_THROW_ENABLED == ENABLED
case THROW: case Mode::Number::THROW:
ret = &mode_throw; ret = &mode_throw;
break; break;
#endif #endif
#if ADSB_ENABLED == ENABLED #if ADSB_ENABLED == ENABLED
case AVOID_ADSB: case Mode::Number::AVOID_ADSB:
ret = &mode_avoid_adsb; ret = &mode_avoid_adsb;
break; break;
#endif #endif
#if MODE_GUIDED_NOGPS_ENABLED == ENABLED #if MODE_GUIDED_NOGPS_ENABLED == ENABLED
case GUIDED_NOGPS: case Mode::Number::GUIDED_NOGPS:
ret = &mode_guided_nogps; ret = &mode_guided_nogps;
break; break;
#endif #endif
#if MODE_SMARTRTL_ENABLED == ENABLED #if MODE_SMARTRTL_ENABLED == ENABLED
case SMART_RTL: case Mode::Number::SMART_RTL:
ret = &mode_smartrtl; ret = &mode_smartrtl;
break; break;
#endif #endif
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
case FLOWHOLD: case Mode::Number::FLOWHOLD:
ret = (Mode *)g2.mode_flowhold_ptr; ret = (Mode *)g2.mode_flowhold_ptr;
break; break;
#endif #endif
#if MODE_FOLLOW_ENABLED == ENABLED #if MODE_FOLLOW_ENABLED == ENABLED
case FOLLOW: case Mode::Number::FOLLOW:
ret = &mode_follow; ret = &mode_follow;
break; break;
#endif #endif
#if MODE_ZIGZAG_ENABLED == ENABLED #if MODE_ZIGZAG_ENABLED == ENABLED
case ZIGZAG: case Mode::Number::ZIGZAG:
ret = &mode_zigzag; ret = &mode_zigzag;
break; break;
#endif #endif
@ -171,7 +171,7 @@ Mode *Copter::mode_from_mode_num(const uint8_t mode)
// optional force parameter used to force the flight mode change (used only first time mode is set) // optional force parameter used to force the flight mode change (used only first time mode is set)
// returns true if mode was successfully set // returns true if mode was successfully set
// ACRO, STABILIZE, ALTHOLD, LAND, DRIFT and SPORT can always be set successfully but the return state of other flight modes should be checked and the caller should deal with failures appropriately // ACRO, STABILIZE, ALTHOLD, LAND, DRIFT and SPORT can always be set successfully but the return state of other flight modes should be checked and the caller should deal with failures appropriately
bool Copter::set_mode(control_mode_t mode, mode_reason_t reason) bool Copter::set_mode(Mode::Number mode, mode_reason_t reason)
{ {
// return immediately if we are already in the desired mode // return immediately if we are already in the desired mode
@ -180,7 +180,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
return true; return true;
} }
Mode *new_flightmode = mode_from_mode_num(mode); Mode *new_flightmode = mode_from_mode_num((Mode::Number)mode);
if (new_flightmode == nullptr) { if (new_flightmode == nullptr) {
gcs().send_text(MAV_SEVERITY_WARNING,"No such mode"); gcs().send_text(MAV_SEVERITY_WARNING,"No such mode");
AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode)); AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
@ -242,11 +242,11 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
flightmode = new_flightmode; flightmode = new_flightmode;
control_mode = mode; control_mode = mode;
control_mode_reason = reason; control_mode_reason = reason;
logger.Write_Mode(control_mode, reason); logger.Write_Mode((uint8_t)control_mode, reason);
gcs().send_message(MSG_HEARTBEAT); gcs().send_message(MSG_HEARTBEAT);
#if ADSB_ENABLED == ENABLED #if ADSB_ENABLED == ENABLED
adsb.set_is_auto_mode((mode == AUTO) || (mode == RTL) || (mode == GUIDED)); adsb.set_is_auto_mode((mode == Mode::Number::AUTO) || (mode == Mode::Number::RTL) || (mode == Mode::Number::GUIDED));
#endif #endif
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
@ -257,7 +257,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
#endif #endif
#if CAMERA == ENABLED #if CAMERA == ENABLED
camera.set_is_auto_mode(control_mode == AUTO); camera.set_is_auto_mode(control_mode == Mode::Number::AUTO);
#endif #endif
// update notify object // update notify object
@ -337,7 +337,7 @@ void Copter::exit_mode(Mode *&old_flightmode,
// notify_flight_mode - sets notify object based on current flight mode. Only used for OreoLED notify device // notify_flight_mode - sets notify object based on current flight mode. Only used for OreoLED notify device
void Copter::notify_flight_mode() { void Copter::notify_flight_mode() {
AP_Notify::flags.autopilot_mode = flightmode->is_autopilot(); AP_Notify::flags.autopilot_mode = flightmode->is_autopilot();
AP_Notify::flags.flight_mode = control_mode; AP_Notify::flags.flight_mode = (uint8_t)control_mode;
notify.set_flight_mode_str(flightmode->name4()); notify.set_flight_mode_str(flightmode->name4());
} }
@ -524,8 +524,8 @@ void Mode::land_run_horizontal_control()
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){ if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
copter.Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT); copter.Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high // exit land if throttle is high
if (!set_mode(LOITER, MODE_REASON_THROTTLE_LAND_ESCAPE)) { if (!set_mode(Mode::Number::LOITER, MODE_REASON_THROTTLE_LAND_ESCAPE)) {
set_mode(ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE); set_mode(Mode::Number::ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE);
} }
} }
@ -720,7 +720,7 @@ void Mode::update_simple_mode(void) {
copter.update_simple_mode(); copter.update_simple_mode();
} }
bool Mode::set_mode(control_mode_t mode, mode_reason_t reason) bool Mode::set_mode(Mode::Number mode, mode_reason_t reason)
{ {
return copter.set_mode(mode, reason); return copter.set_mode(mode, reason);
} }

42
ArduCopter/mode.h
View File

@ -2,10 +2,41 @@
#include "Copter.h" #include "Copter.h"
class Parameters;
class ParametersG2;
class GCS_Copter;
class Mode { class Mode {
public: public:
// Auto Pilot Modes enumeration
enum class Number {
STABILIZE = 0, // manual airframe angle with manual throttle
ACRO = 1, // manual body-frame angular rate with manual throttle
ALT_HOLD = 2, // manual airframe angle with automatic throttle
AUTO = 3, // fully automatic waypoint control using mission commands
GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
LOITER = 5, // automatic horizontal acceleration with automatic throttle
RTL = 6, // automatic return to launching point
CIRCLE = 7, // automatic circular flight with automatic throttle
LAND = 9, // automatic landing with horizontal position control
DRIFT = 11, // semi-automous position, yaw and throttle control
SPORT = 13, // manual earth-frame angular rate control with manual throttle
FLIP = 14, // automatically flip the vehicle on the roll axis
AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude
SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps
FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder
FOLLOW = 23, // follow attempts to follow another vehicle or ground station
ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
};
// constructor // constructor
Mode(void); Mode(void);
@ -205,7 +236,7 @@ public:
float get_pilot_desired_climb_rate(float throttle_control); float get_pilot_desired_climb_rate(float throttle_control);
float get_non_takeoff_throttle(void); float get_non_takeoff_throttle(void);
void update_simple_mode(void); void update_simple_mode(void);
bool set_mode(control_mode_t mode, mode_reason_t reason); bool set_mode(Mode::Number mode, mode_reason_t reason);
void set_land_complete(bool b); void set_land_complete(bool b);
GCS_Copter &gcs(); GCS_Copter &gcs();
void Log_Write_Event(Log_Event id); void Log_Write_Event(Log_Event id);
@ -238,12 +269,7 @@ protected:
void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16_t yaw_in, float &roll_out, float &pitch_out, float &yaw_out); void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16_t yaw_in, float &roll_out, float &pitch_out, float &yaw_out);
float throttle_hover() const override { float throttle_hover() const override;
if (g2.acro_thr_mid > 0) {
return g2.acro_thr_mid;
}
return Mode::throttle_hover();
}
private: private:
@ -630,7 +656,7 @@ private:
Abandon Abandon
}; };
FlipState _state; // current state of flip FlipState _state; // current state of flip
control_mode_t orig_control_mode; // flight mode when flip was initated Mode::Number orig_control_mode; // flight mode when flip was initated
uint32_t start_time_ms; // time since flip began uint32_t start_time_ms; // time since flip began
int8_t roll_dir; // roll direction (-1 = roll left, 1 = roll right) int8_t roll_dir; // roll direction (-1 = roll left, 1 = roll right)
int8_t pitch_dir; // pitch direction (-1 = pitch forward, 1 = pitch back) int8_t pitch_dir; // pitch direction (-1 = pitch forward, 1 = pitch back)

7
ArduCopter/mode_acro.cpp
View File

@ -56,6 +56,13 @@ void ModeAcro::run()
copter.g.throttle_filt); copter.g.throttle_filt);
} }
float ModeAcro::throttle_hover() const
{
if (g2.acro_thr_mid > 0) {
return g2.acro_thr_mid;
}
return Mode::throttle_hover();
}
// get_pilot_desired_angle_rates - transform pilot's roll pitch and yaw input into a desired lean angle rates // get_pilot_desired_angle_rates - transform pilot's roll pitch and yaw input into a desired lean angle rates
// returns desired angle rates in centi-degrees-per-second // returns desired angle rates in centi-degrees-per-second

4
ArduCopter/mode_auto.cpp
View File

@ -539,7 +539,7 @@ void ModeAuto::exit_mission()
if (!copter.ap.land_complete) { if (!copter.ap.land_complete) {
// try to enter loiter but if that fails land // try to enter loiter but if that fails land
if (!loiter_start()) { if (!loiter_start()) {
set_mode(LAND, MODE_REASON_MISSION_END); set_mode(Mode::Number::LAND, MODE_REASON_MISSION_END);
} }
} else { } else {
// if we've landed it's safe to disarm // if we've landed it's safe to disarm
@ -551,7 +551,7 @@ void ModeAuto::exit_mission()
bool ModeAuto::do_guided(const AP_Mission::Mission_Command& cmd) bool ModeAuto::do_guided(const AP_Mission::Mission_Command& cmd)
{ {
// only process guided waypoint if we are in guided mode // only process guided waypoint if we are in guided mode
if (copter.control_mode != GUIDED && !(copter.control_mode == AUTO && mode() == Auto_NavGuided)) { if (copter.control_mode != Mode::Number::GUIDED && !(copter.control_mode == Mode::Number::AUTO && mode() == Auto_NavGuided)) {
return false; return false;
} }

8
ArduCopter/mode_autotune.cpp
View File

@ -9,7 +9,7 @@
bool AutoTune::init() bool AutoTune::init()
{ {
// use position hold while tuning if we were in QLOITER // use position hold while tuning if we were in QLOITER
bool position_hold = (copter.control_mode == LOITER || copter.control_mode == POSHOLD); bool position_hold = (copter.control_mode == Mode::Number::LOITER || copter.control_mode == Mode::Number::POSHOLD);
return init_internals(position_hold, return init_internals(position_hold,
copter.attitude_control, copter.attitude_control,
@ -24,8 +24,10 @@ bool AutoTune::init()
bool AutoTune::start() bool AutoTune::start()
{ {
// only allow flip from Stabilize, AltHold, PosHold or Loiter modes // only allow flip from Stabilize, AltHold, PosHold or Loiter modes
if (copter.control_mode != STABILIZE && copter.control_mode != ALT_HOLD && if (copter.control_mode != Mode::Number::STABILIZE &&
copter.control_mode != LOITER && copter.control_mode != POSHOLD) { copter.control_mode != Mode::Number::ALT_HOLD &&
copter.control_mode != Mode::Number::LOITER &&
copter.control_mode != Mode::Number::POSHOLD) {
return false; return false;
} }

2
ArduCopter/mode_avoid_adsb.cpp
View File

@ -19,7 +19,7 @@ bool ModeAvoidADSB::init(const bool ignore_checks)
bool ModeAvoidADSB::set_velocity(const Vector3f& velocity_neu) bool ModeAvoidADSB::set_velocity(const Vector3f& velocity_neu)
{ {
// check flight mode // check flight mode
if (copter.control_mode != AVOID_ADSB) { if (copter.control_mode != Mode::Number::AVOID_ADSB) {
return false; return false;
} }

4
ArduCopter/mode_brake.cpp
View File

@ -63,8 +63,8 @@ void ModeBrake::run()
pos_control->update_z_controller(); pos_control->update_z_controller();
if (_timeout_ms != 0 && millis()-_timeout_start >= _timeout_ms) { if (_timeout_ms != 0 && millis()-_timeout_start >= _timeout_ms) {
if (!copter.set_mode(LOITER, MODE_REASON_BRAKE_TIMEOUT)) { if (!copter.set_mode(Mode::Number::LOITER, MODE_REASON_BRAKE_TIMEOUT)) {
copter.set_mode(ALT_HOLD, MODE_REASON_BRAKE_TIMEOUT); copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_BRAKE_TIMEOUT);
} }
} }
} }

14
ArduCopter/mode_flip.cpp
View File

@ -36,15 +36,15 @@
bool ModeFlip::init(bool ignore_checks) bool ModeFlip::init(bool ignore_checks)
{ {
// only allow flip from ACRO, Stabilize, AltHold or Drift flight modes // only allow flip from ACRO, Stabilize, AltHold or Drift flight modes
if (copter.control_mode != ACRO && if (copter.control_mode != Mode::Number::ACRO &&
copter.control_mode != STABILIZE && copter.control_mode != Mode::Number::STABILIZE &&
copter.control_mode != ALT_HOLD && copter.control_mode != Mode::Number::ALT_HOLD &&
copter.control_mode != FLOWHOLD) { copter.control_mode != Mode::Number::FLOWHOLD) {
return false; return false;
} }
// if in acro or stabilize ensure throttle is above zero // if in acro or stabilize ensure throttle is above zero
if (copter.ap.throttle_zero && (copter.control_mode == ACRO || copter.control_mode == STABILIZE)) { if (copter.ap.throttle_zero && (copter.control_mode == Mode::Number::ACRO || copter.control_mode == Mode::Number::STABILIZE)) {
return false; return false;
} }
@ -194,7 +194,7 @@ void ModeFlip::run()
// restore original flight mode // restore original flight mode
if (!copter.set_mode(orig_control_mode, MODE_REASON_FLIP_COMPLETE)) { if (!copter.set_mode(orig_control_mode, MODE_REASON_FLIP_COMPLETE)) {
// this should never happen but just in case // this should never happen but just in case
copter.set_mode(STABILIZE, MODE_REASON_UNKNOWN); copter.set_mode(Mode::Number::STABILIZE, MODE_REASON_UNKNOWN);
} }
// log successful completion // log successful completion
Log_Write_Event(DATA_FLIP_END); Log_Write_Event(DATA_FLIP_END);
@ -205,7 +205,7 @@ void ModeFlip::run()
// restore original flight mode // restore original flight mode
if (!copter.set_mode(orig_control_mode, MODE_REASON_FLIP_COMPLETE)) { if (!copter.set_mode(orig_control_mode, MODE_REASON_FLIP_COMPLETE)) {
// this should never happen but just in case // this should never happen but just in case
copter.set_mode(STABILIZE, MODE_REASON_UNKNOWN); copter.set_mode(Mode::Number::STABILIZE, MODE_REASON_UNKNOWN);
} }
// log abandoning flip // log abandoning flip
AP::logger().Write_Error(LogErrorSubsystem::FLIP, LogErrorCode::FLIP_ABANDONED); AP::logger().Write_Error(LogErrorSubsystem::FLIP, LogErrorCode::FLIP_ABANDONED);

6
ArduCopter/mode_land.cpp
View File

@ -93,7 +93,7 @@ void ModeLand::nogps_run()
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){ if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT); Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high // exit land if throttle is high
copter.set_mode(ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE); copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE);
} }
if (g.land_repositioning) { if (g.land_repositioning) {
@ -147,7 +147,7 @@ void ModeLand::do_not_use_GPS()
// this is always called from a failsafe so we trigger notification to pilot // this is always called from a failsafe so we trigger notification to pilot
void Copter::set_mode_land_with_pause(mode_reason_t reason) void Copter::set_mode_land_with_pause(mode_reason_t reason)
{ {
set_mode(LAND, reason); set_mode(Mode::Number::LAND, reason);
land_pause = true; land_pause = true;
// alert pilot to mode change // alert pilot to mode change
@ -157,5 +157,5 @@ void Copter::set_mode_land_with_pause(mode_reason_t reason)
// landing_with_GPS - returns true if vehicle is landing using GPS // landing_with_GPS - returns true if vehicle is landing using GPS
bool Copter::landing_with_GPS() bool Copter::landing_with_GPS()
{ {
return (control_mode == LAND && land_with_gps); return (control_mode == Mode::Number::LAND && land_with_gps);
} }

6
ArduCopter/mode_rtl.cpp
View File

@ -119,7 +119,7 @@ void ModeRTL::climb_start()
if (!wp_nav->set_wp_destination(rtl_path.climb_target)) { if (!wp_nav->set_wp_destination(rtl_path.climb_target)) {
// this should not happen because rtl_build_path will have checked terrain data was available // this should not happen because rtl_build_path will have checked terrain data was available
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
copter.set_mode(LAND, MODE_REASON_TERRAIN_FAILSAFE); copter.set_mode(Mode::Number::LAND, MODE_REASON_TERRAIN_FAILSAFE);
return; return;
} }
wp_nav->set_fast_waypoint(true); wp_nav->set_fast_waypoint(true);
@ -287,8 +287,8 @@ void ModeRTL::descent_run()
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){ if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT); Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high // exit land if throttle is high
if (!copter.set_mode(LOITER, MODE_REASON_THROTTLE_LAND_ESCAPE)) { if (!copter.set_mode(Mode::Number::LOITER, MODE_REASON_THROTTLE_LAND_ESCAPE)) {
copter.set_mode(ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE); copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE);
} }
} }

2
ArduCopter/mode_smart_rtl.cpp
View File

@ -144,7 +144,7 @@ void ModeSmartRTL::pre_land_position_run()
// save current position for use by the smart_rtl flight mode // save current position for use by the smart_rtl flight mode
void ModeSmartRTL::save_position() void ModeSmartRTL::save_position()
{ {
const bool should_save_position = motors->armed() && (copter.control_mode != SMART_RTL); const bool should_save_position = motors->armed() && (copter.control_mode != Mode::Number::SMART_RTL);
copter.g2.smart_rtl.update(copter.position_ok(), should_save_position); copter.g2.smart_rtl.update(copter.position_ok(), should_save_position);
} }

16
ArduCopter/mode_throw.cpp
View File

@ -85,14 +85,14 @@ void ModeThrow::run()
copter.set_auto_armed(true); copter.set_auto_armed(true);
} else if (stage == Throw_PosHold && throw_position_good()) { } else if (stage == Throw_PosHold && throw_position_good()) {
if (!nextmode_attempted) { if (!nextmode_attempted) {
switch (g2.throw_nextmode) { switch ((Mode::Number)g2.throw_nextmode.get()) {
case AUTO: case Mode::Number::AUTO:
case GUIDED: case Mode::Number::GUIDED:
case RTL: case Mode::Number::RTL:
case LAND: case Mode::Number::LAND:
case BRAKE: case Mode::Number::BRAKE:
case LOITER: case Mode::Number::LOITER:
set_mode((control_mode_t)g2.throw_nextmode.get(), MODE_REASON_THROW_COMPLETE); set_mode((Mode::Number)g2.throw_nextmode.get(), MODE_REASON_THROW_COMPLETE);
break; break;
default: default:
// do nothing // do nothing

6
ArduCopter/motors.cpp
View File

@ -51,7 +51,7 @@ void Copter::arm_motors_check()
} }
// arm the motors and configure for flight // arm the motors and configure for flight
if (arming_counter == AUTO_TRIM_DELAY && motors->armed() && control_mode == STABILIZE) { if (arming_counter == AUTO_TRIM_DELAY && motors->armed() && control_mode == Mode::Number::STABILIZE) {
auto_trim_counter = 250; auto_trim_counter = 250;
// ensure auto-disarm doesn't trigger immediately // ensure auto-disarm doesn't trigger immediately
auto_disarm_begin = millis(); auto_disarm_begin = millis();
@ -88,7 +88,7 @@ void Copter::auto_disarm_check()
// exit immediately if we are already disarmed, or if auto // exit immediately if we are already disarmed, or if auto
// disarming is disabled // disarming is disabled
if (!motors->armed() || disarm_delay_ms == 0 || control_mode == THROW) { if (!motors->armed() || disarm_delay_ms == 0 || control_mode == Mode::Number::THROW) {
auto_disarm_begin = tnow_ms; auto_disarm_begin = tnow_ms;
return; return;
} }
@ -146,7 +146,7 @@ void Copter::motors_output()
#endif #endif
// Update arming delay state // Update arming delay state
if (ap.in_arming_delay && (!motors->armed() || millis()-arm_time_ms > ARMING_DELAY_SEC*1.0e3f || control_mode == THROW)) { if (ap.in_arming_delay && (!motors->armed() || millis()-arm_time_ms > ARMING_DELAY_SEC*1.0e3f || control_mode == Mode::Number::THROW)) {
ap.in_arming_delay = false; ap.in_arming_delay = false;
} }

2
ArduCopter/system.cpp
View File

@ -382,7 +382,7 @@ void Copter::update_auto_armed()
// if motors are armed and throttle is above zero auto_armed should be true // if motors are armed and throttle is above zero auto_armed should be true
// if motors are armed and we are in throw mode, then auto_armed should be true // if motors are armed and we are in throw mode, then auto_armed should be true
} else if (motors->armed() && !ap.using_interlock) { } else if (motors->armed() && !ap.using_interlock) {
if(!ap.throttle_zero || control_mode == THROW) { if(!ap.throttle_zero || control_mode == Mode::Number::THROW) {
set_auto_armed(true); set_auto_armed(true);
} }
} }

94
ArduCopter/toy_mode.cpp
View File

@ -31,14 +31,14 @@ const AP_Param::GroupInfo ToyMode::var_info[] = {
// @Description: This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS // @Description: This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:FlowHold // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:FlowHold
// @User: Standard // @User: Standard
AP_GROUPINFO("_MODE1", 2, ToyMode, primary_mode[0], ALT_HOLD), AP_GROUPINFO("_MODE1", 2, ToyMode, primary_mode[0], (float)Mode::Number::ALT_HOLD),
// @Param: _MODE2 // @Param: _MODE2
// @DisplayName: Tmode second mode // @DisplayName: Tmode second mode
// @Description: This is the secondary mode. This mode is assumed to require GPS // @Description: This is the secondary mode. This mode is assumed to require GPS
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:FlowHold // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:FlowHold
// @User: Standard // @User: Standard
AP_GROUPINFO("_MODE2", 3, ToyMode, primary_mode[1], LOITER), AP_GROUPINFO("_MODE2", 3, ToyMode, primary_mode[1], (float)Mode::Number::LOITER),
// @Param: _ACTION1 // @Param: _ACTION1
// @DisplayName: Tmode action 1 // @DisplayName: Tmode action 1
@ -205,7 +205,7 @@ void ToyMode::update()
if (!done_first_update) { if (!done_first_update) {
done_first_update = true; done_first_update = true;
copter.set_mode(control_mode_t(primary_mode[0].get()), MODE_REASON_TMODE); copter.set_mode(Mode::Number(primary_mode[0].get()), MODE_REASON_TMODE);
copter.motors->set_thrust_compensation_callback(FUNCTOR_BIND_MEMBER(&ToyMode::thrust_limiting, void, float *, uint8_t)); copter.motors->set_thrust_compensation_callback(FUNCTOR_BIND_MEMBER(&ToyMode::thrust_limiting, void, float *, uint8_t));
} }
@ -424,11 +424,11 @@ void ToyMode::update()
if (throttle_high_counter >= TOY_LAND_ARM_COUNT) { if (throttle_high_counter >= TOY_LAND_ARM_COUNT) {
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: throttle arm"); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: throttle arm");
arm_check_compass(); arm_check_compass();
if (!copter.arming.arm(AP_Arming::Method::MAVLINK) && (flags & FLAG_UPGRADE_LOITER) && copter.control_mode == LOITER) { if (!copter.arming.arm(AP_Arming::Method::MAVLINK) && (flags & FLAG_UPGRADE_LOITER) && copter.control_mode == Mode::Number::LOITER) {
/* /*
support auto-switching to ALT_HOLD, then upgrade to LOITER once GPS available support auto-switching to ALT_HOLD, then upgrade to LOITER once GPS available
*/ */
if (set_and_remember_mode(ALT_HOLD, MODE_REASON_TMODE)) { if (set_and_remember_mode(Mode::Number::ALT_HOLD, MODE_REASON_TMODE)) {
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: ALT_HOLD update arm"); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: ALT_HOLD update arm");
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
copter.fence.enable(false); copter.fence.enable(false);
@ -436,7 +436,7 @@ void ToyMode::update()
if (!copter.arming.arm(AP_Arming::Method::MAVLINK)) { if (!copter.arming.arm(AP_Arming::Method::MAVLINK)) {
// go back to LOITER // go back to LOITER
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: ALT_HOLD arm failed"); gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: ALT_HOLD arm failed");
set_and_remember_mode(LOITER, MODE_REASON_TMODE); set_and_remember_mode(Mode::Number::LOITER, MODE_REASON_TMODE);
} else { } else {
upgrade_to_loiter = true; upgrade_to_loiter = true;
#if 0 #if 0
@ -453,12 +453,12 @@ void ToyMode::update()
} }
if (upgrade_to_loiter) { if (upgrade_to_loiter) {
if (!copter.motors->armed() || copter.control_mode != ALT_HOLD) { if (!copter.motors->armed() || copter.control_mode != Mode::Number::ALT_HOLD) {
upgrade_to_loiter = false; upgrade_to_loiter = false;
#if 0 #if 0
AP_Notify::flags.hybrid_loiter = false; AP_Notify::flags.hybrid_loiter = false;
#endif #endif
} else if (copter.position_ok() && set_and_remember_mode(LOITER, MODE_REASON_TMODE)) { } else if (copter.position_ok() && set_and_remember_mode(Mode::Number::LOITER, MODE_REASON_TMODE)) {
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
copter.fence.enable(true); copter.fence.enable(true);
#endif #endif
@ -466,13 +466,13 @@ void ToyMode::update()
} }
} }
if (copter.control_mode == RTL && (flags & FLAG_RTL_CANCEL) && throttle_near_max) { if (copter.control_mode == Mode::Number::RTL && (flags & FLAG_RTL_CANCEL) && throttle_near_max) {
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: RTL cancel"); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: RTL cancel");
set_and_remember_mode(LOITER, MODE_REASON_TMODE); set_and_remember_mode(Mode::Number::LOITER, MODE_REASON_TMODE);
} }
enum control_mode_t old_mode = copter.control_mode; enum Mode::Number old_mode = copter.control_mode;
enum control_mode_t new_mode = old_mode; enum Mode::Number new_mode = old_mode;
/* /*
implement actions implement actions
@ -491,78 +491,78 @@ void ToyMode::update()
case ACTION_MODE_ACRO: case ACTION_MODE_ACRO:
#if MODE_ACRO_ENABLED == ENABLED #if MODE_ACRO_ENABLED == ENABLED
new_mode = ACRO; new_mode = Mode::Number::ACRO;
#else #else
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: ACRO is disabled"); gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: ACRO is disabled");
#endif #endif
break; break;
case ACTION_MODE_ALTHOLD: case ACTION_MODE_ALTHOLD:
new_mode = ALT_HOLD; new_mode = Mode::Number::ALT_HOLD;
break; break;
case ACTION_MODE_AUTO: case ACTION_MODE_AUTO:
new_mode = AUTO; new_mode = Mode::Number::AUTO;
break; break;
case ACTION_MODE_LOITER: case ACTION_MODE_LOITER:
new_mode = LOITER; new_mode = Mode::Number::LOITER;
break; break;
case ACTION_MODE_RTL: case ACTION_MODE_RTL:
new_mode = RTL; new_mode = Mode::Number::RTL;
break; break;
case ACTION_MODE_CIRCLE: case ACTION_MODE_CIRCLE:
new_mode = CIRCLE; new_mode = Mode::Number::CIRCLE;
break; break;
case ACTION_MODE_LAND: case ACTION_MODE_LAND:
new_mode = LAND; new_mode = Mode::Number::LAND;
break; break;
case ACTION_MODE_DRIFT: case ACTION_MODE_DRIFT:
new_mode = DRIFT; new_mode = Mode::Number::DRIFT;
break; break;
case ACTION_MODE_SPORT: case ACTION_MODE_SPORT:
new_mode = SPORT; new_mode = Mode::Number::SPORT;
break; break;
case ACTION_MODE_AUTOTUNE: case ACTION_MODE_AUTOTUNE:
new_mode = AUTOTUNE; new_mode = Mode::Number::AUTOTUNE;
break; break;
case ACTION_MODE_POSHOLD: case ACTION_MODE_POSHOLD:
new_mode = POSHOLD; new_mode = Mode::Number::POSHOLD;
break; break;
case ACTION_MODE_BRAKE: case ACTION_MODE_BRAKE:
new_mode = BRAKE; new_mode = Mode::Number::BRAKE;
break; break;
case ACTION_MODE_THROW: case ACTION_MODE_THROW:
#if MODE_THROW_ENABLED == ENABLED #if MODE_THROW_ENABLED == ENABLED
new_mode = THROW; new_mode = Mode::Number::THROW;
#else #else
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: THROW is disabled"); gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: THROW is disabled");
#endif #endif
break; break;
case ACTION_MODE_FLIP: case ACTION_MODE_FLIP:
new_mode = FLIP; new_mode = Mode::Number::FLIP;
break; break;
case ACTION_MODE_STAB: case ACTION_MODE_STAB:
new_mode = STABILIZE; new_mode = Mode::Number::STABILIZE;
break; break;
case ACTION_MODE_FLOW: case ACTION_MODE_FLOW:
// toggle flow hold // toggle flow hold
if (old_mode != FLOWHOLD) { if (old_mode != Mode::Number::FLOWHOLD) {
new_mode = FLOWHOLD; new_mode = Mode::Number::FLOWHOLD;
} else { } else {
new_mode = ALT_HOLD; new_mode = Mode::Number::ALT_HOLD;
} }
break; break;
@ -575,7 +575,7 @@ void ToyMode::update()
case ACTION_TOGGLE_MODE: case ACTION_TOGGLE_MODE:
last_mode_choice = (last_mode_choice+1) % 2; last_mode_choice = (last_mode_choice+1) % 2;
new_mode = control_mode_t(primary_mode[last_mode_choice].get()); new_mode = Mode::Number(primary_mode[last_mode_choice].get());
break; break;
case ACTION_TOGGLE_SIMPLE: case ACTION_TOGGLE_SIMPLE:
@ -589,24 +589,24 @@ void ToyMode::update()
case ACTION_ARM_LAND_RTL: case ACTION_ARM_LAND_RTL:
if (!copter.motors->armed()) { if (!copter.motors->armed()) {
action_arm(); action_arm();
} else if (old_mode == RTL) { } else if (old_mode == Mode::Number::RTL) {
// switch between RTL and LOITER when in GPS modes // switch between RTL and LOITER when in GPS modes
new_mode = LOITER; new_mode = Mode::Number::LOITER;
} else if (old_mode == LAND) { } else if (old_mode == Mode::Number::LAND) {
if (last_set_mode == LAND || !copter.position_ok()) { if (last_set_mode == Mode::Number::LAND || !copter.position_ok()) {
// this is a land that we asked for, or we don't have good positioning // this is a land that we asked for, or we don't have good positioning
new_mode = ALT_HOLD; new_mode = Mode::Number::ALT_HOLD;
} else if (copter.landing_with_GPS()) { } else if (copter.landing_with_GPS()) {
new_mode = LOITER; new_mode = Mode::Number::LOITER;
} else { } else {
new_mode = ALT_HOLD; new_mode = Mode::Number::ALT_HOLD;
} }
} else if (copter.flightmode->requires_GPS()) { } else if (copter.flightmode->requires_GPS()) {
// if we're in a GPS mode, then RTL // if we're in a GPS mode, then RTL
new_mode = RTL; new_mode = Mode::Number::RTL;
} else { } else {
// if we're in a non-GPS mode, then LAND // if we're in a non-GPS mode, then LAND
new_mode = LAND; new_mode = Mode::Number::LAND;
} }
break; break;
@ -619,9 +619,9 @@ void ToyMode::update()
load_test.running = false; load_test.running = false;
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: load_test off"); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: load_test off");
copter.init_disarm_motors(); copter.init_disarm_motors();
copter.set_mode(ALT_HOLD, MODE_REASON_TMODE); copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_TMODE);
} else { } else {
copter.set_mode(ALT_HOLD, MODE_REASON_TMODE); copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_TMODE);
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
copter.fence.enable(false); copter.fence.enable(false);
#endif #endif
@ -636,9 +636,9 @@ void ToyMode::update()
break; break;
} }
if (!copter.motors->armed() && (copter.control_mode == LAND || copter.control_mode == RTL)) { if (!copter.motors->armed() && (copter.control_mode == Mode::Number::LAND || copter.control_mode == Mode::Number::RTL)) {
// revert back to last primary flight mode if disarmed after landing // revert back to last primary flight mode if disarmed after landing
new_mode = control_mode_t(primary_mode[last_mode_choice].get()); new_mode = Mode::Number(primary_mode[last_mode_choice].get());
} }
if (new_mode != copter.control_mode) { if (new_mode != copter.control_mode) {
@ -656,10 +656,10 @@ void ToyMode::update()
#endif #endif
} else { } else {
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: %u FAILED", (unsigned)new_mode); gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: %u FAILED", (unsigned)new_mode);
if (new_mode == RTL) { if (new_mode == Mode::Number::RTL) {
// if we can't RTL then land // if we can't RTL then land
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: LANDING"); gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: LANDING");
set_and_remember_mode(LAND, MODE_REASON_TMODE); set_and_remember_mode(Mode::Number::LAND, MODE_REASON_TMODE);
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
if (copter.landing_with_GPS()) { if (copter.landing_with_GPS()) {
copter.fence.enable(true); copter.fence.enable(true);
@ -674,7 +674,7 @@ void ToyMode::update()
/* /*
set a mode, remembering what mode we set, and the previous mode we were in set a mode, remembering what mode we set, and the previous mode we were in
*/ */
bool ToyMode::set_and_remember_mode(control_mode_t mode, mode_reason_t reason) bool ToyMode::set_and_remember_mode(Mode::Number mode, mode_reason_t reason)
{ {
if (copter.control_mode == mode) { if (copter.control_mode == mode) {
return true; return true;

4
ArduCopter/toy_mode.h
View File

@ -38,7 +38,7 @@ private:
void action_arm(void); void action_arm(void);
void blink_update(void); void blink_update(void);
void send_named_int(const char *name, int32_t value); void send_named_int(const char *name, int32_t value);
bool set_and_remember_mode(control_mode_t mode, mode_reason_t reason); bool set_and_remember_mode(Mode::Number mode, mode_reason_t reason);
void thrust_limiting(float *thrust, uint8_t num_motors); void thrust_limiting(float *thrust, uint8_t num_motors);
void arm_check_compass(void); void arm_check_compass(void);
@ -156,7 +156,7 @@ private:
uint8_t motor_log_counter; uint8_t motor_log_counter;
// remember the last mode we set // remember the last mode we set
control_mode_t last_set_mode = LOITER; Mode::Number last_set_mode = Mode::Number::LOITER;
struct load_data { struct load_data {
uint16_t m[4]; uint16_t m[4];