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Copter: set each flight mode's nav_mode

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Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be
overwritten
This commit is contained in:
Randy Mackay 2013-01-25 15:57:55 +09:00
parent aaecc25ac7
commit b74fe10aa9
2 changed files with 81 additions and 31 deletions
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79
ArduCopter/config.h
View File

@ -608,9 +608,23 @@
#define EARTH_FRAME 0
#define BODY_FRAME 1
// Stabilize Mode
#ifndef STABILIZE_THROTTLE
# define STABILIZE_THROTTLE THROTTLE_MANUAL_TILT_COMPENSATED
// Flight mode roll, pitch, yaw, throttle and navigation definitions
// Acro Mode
#ifndef ACRO_YAW
# define ACRO_YAW YAW_ACRO
#endif
#ifndef ACRO_RP
# define ACRO_RP ROLL_PITCH_ACRO
#endif
#ifndef ACRO_THR
# define ACRO_THR THROTTLE_MANUAL
#endif
#ifndef ACRO_NAV
# define ACRO_NAV NAV_NONE
#endif
// Alt Hold Mode
@ -626,6 +640,10 @@
# define ALT_HOLD_THR THROTTLE_HOLD
#endif
#ifndef ALT_HOLD_NAV
# define ALT_HOLD_NAV NAV_NONE
#endif
// AUTO Mode
#ifndef AUTO_YAW
# define AUTO_YAW YAW_LOOK_AT_NEXT_WP
@ -639,6 +657,23 @@
# define AUTO_THR THROTTLE_AUTO
#endif
// CIRCLE Mode
#ifndef CIRCLE_YAW
# define CIRCLE_YAW YAW_LOOK_AT_LOCATION
#endif
#ifndef CIRCLE_RP
# define CIRCLE_RP ROLL_PITCH_AUTO
#endif
#ifndef CIRCLE_THR
# define CIRCLE_THR THROTTLE_HOLD
#endif
#ifndef CIRCLE_NAV
# define CIRCLE_NAV NAV_CIRCLE
#endif
// Guided Mode
#ifndef GUIDED_YAW
# define GUIDED_YAW YAW_LOOK_AT_NEXT_WP
@ -652,17 +687,8 @@
# define GUIDED_THR THROTTLE_AUTO
#endif
// CIRCLE Mode
#ifndef CIRCLE_YAW
# define CIRCLE_YAW YAW_LOOK_AT_NEXT_WP
#endif
#ifndef CIRCLE_RP
# define CIRCLE_RP ROLL_PITCH_AUTO
#endif
#ifndef CIRCLE_THR
# define CIRCLE_THR THROTTLE_HOLD
#ifndef GUIDED_NAV
# define GUIDED_NAV NAV_WP
#endif
// LOITER Mode
@ -678,6 +704,27 @@
# define LOITER_THR THROTTLE_HOLD
#endif
#ifndef LOITER_NAV
# define LOITER_NAV NAV_LOITER
#endif
// POSITION Mode
#ifndef POSITION_YAW
# define POSITION_YAW YAW_HOLD
#endif
#ifndef POSITION_RP
# define POSITION_RP ROLL_PITCH_AUTO
#endif
#ifndef POSITION_THR
# define POSITION_THR THROTTLE_HOLD
#endif
#ifndef POSITION_NAV
# define POSITION_NAV NAV_LOITER
#endif
// RTL Mode
#ifndef RTL_YAW
@ -732,6 +779,10 @@
# define OF_LOITER_THR THROTTLE_HOLD
#endif
#ifndef OF_LOITER_NAV
# define OF_LOITER_NAV NAV_NONE
#endif
//////////////////////////////////////////////////////////////////////////////
// Attitude Control
//

33
ArduCopter/system.pde
View File

@ -402,10 +402,10 @@ static void set_mode(uint8_t mode)
case ACRO:
ap.manual_throttle = true;
ap.manual_attitude = true;
set_yaw_mode(YAW_ACRO);
set_roll_pitch_mode(ROLL_PITCH_ACRO);
set_throttle_mode(THROTTLE_MANUAL);
set_nav_mode(NAV_NONE);
set_yaw_mode(ACRO_YAW);
set_roll_pitch_mode(ACRO_RP);
set_throttle_mode(ACRO_THR);
set_nav_mode(ACRO_NAV);
// reset acro axis targets to current attitude
if(g.axis_enabled){
roll_axis = ahrs.roll_sensor;
@ -419,7 +419,7 @@ static void set_mode(uint8_t mode)
ap.manual_attitude = true;
set_yaw_mode(YAW_HOLD);
set_roll_pitch_mode(ROLL_PITCH_STABLE);
set_throttle_mode(STABILIZE_THROTTLE);
set_throttle_mode(THROTTLE_MANUAL_TILT_COMPENSATED);
set_nav_mode(NAV_NONE);
break;
@ -429,7 +429,7 @@ static void set_mode(uint8_t mode)
set_yaw_mode(ALT_HOLD_YAW);
set_roll_pitch_mode(ALT_HOLD_RP);
set_throttle_mode(ALT_HOLD_THR);
set_nav_mode(NAV_NONE);
set_nav_mode(ALT_HOLD_NAV);
break;
case AUTO:
@ -438,7 +438,7 @@ static void set_mode(uint8_t mode)
set_yaw_mode(AUTO_YAW);
set_roll_pitch_mode(AUTO_RP);
set_throttle_mode(AUTO_THR);
// we do not set nav mode for auto because it will be overwritten when first command runs
// loads the commands from where we left off
init_commands();
break;
@ -446,13 +446,12 @@ static void set_mode(uint8_t mode)
case CIRCLE:
ap.manual_throttle = false;
ap.manual_attitude = false;
// set yaw to point to center of circle
yaw_look_at_WP = circle_WP;
set_yaw_mode(YAW_LOOK_AT_LOCATION);
set_yaw_mode(CIRCLE_YAW);
set_roll_pitch_mode(CIRCLE_RP);
set_throttle_mode(CIRCLE_THR);
set_nav_mode(NAV_CIRCLE);
set_nav_mode(CIRCLE_NAV);
break;
case LOITER:
@ -462,17 +461,17 @@ static void set_mode(uint8_t mode)
set_roll_pitch_mode(LOITER_RP);
set_throttle_mode(LOITER_THR);
set_next_WP(&current_loc);
set_nav_mode(NAV_LOITER);
set_nav_mode(LOITER_NAV);
break;
case POSITION:
ap.manual_throttle = true;
ap.manual_attitude = false;
set_yaw_mode(YAW_HOLD);
set_roll_pitch_mode(LOITER_RP);
set_throttle_mode(THROTTLE_MANUAL);
set_yaw_mode(POSITION_YAW);
set_roll_pitch_mode(POSITION_RP);
set_throttle_mode(POSITION_THR);
set_next_WP(&current_loc);
set_nav_mode(NAV_LOITER);
set_nav_mode(POSITION_NAV);
break;
case GUIDED:
@ -481,7 +480,7 @@ static void set_mode(uint8_t mode)
set_yaw_mode(GUIDED_YAW);
set_roll_pitch_mode(GUIDED_RP);
set_throttle_mode(GUIDED_THR);
set_nav_mode(NAV_WP);
set_nav_mode(GUIDED_NAV);
wp_verify_byte = 0;
set_next_WP(&guided_WP);
break;
@ -514,7 +513,7 @@ static void set_mode(uint8_t mode)
set_yaw_mode(OF_LOITER_YAW);
set_roll_pitch_mode(OF_LOITER_RP);
set_throttle_mode(OF_LOITER_THR);
set_nav_mode(NAV_NONE);
set_nav_mode(OF_LOITER_NAV);
set_next_WP(&current_loc);
break;