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Copter: add option to disable GUIDED flight mode

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Peter Barker 2018-02-23 15:09:07 +11:00 committed by Randy Mackay
parent 0ddeb56a05
commit b8c432b1a1
6 changed files with 19 additions and 0 deletions
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1
ArduCopter/APM_Config.h
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@ -25,6 +25,7 @@
//#define WINCH_ENABLED DISABLED // disable winch support //#define WINCH_ENABLED DISABLED // disable winch support
//#define MODE_AUTO_ENABLED DISABLED // disable auto mode support //#define MODE_AUTO_ENABLED DISABLED // disable auto mode support
//#define MODE_DRIFT_ENABLED DISABLED // disable drift mode support //#define MODE_DRIFT_ENABLED DISABLED // disable drift mode support
//#define MODE_GUIDED_ENABLED DISABLED // disable guided mode support
//#define MODE_LOITER_ENABLED DISABLED // disable loiter mode support //#define MODE_LOITER_ENABLED DISABLED // disable loiter mode support
//#define MODE_POSHOLD_ENABLED DISABLED // disable poshold mode support //#define MODE_POSHOLD_ENABLED DISABLED // disable poshold mode support
//#define MODE_SMARTRTL_ENABLED DISABLED // disable smartrtl mode support //#define MODE_SMARTRTL_ENABLED DISABLED // disable smartrtl mode support

2
ArduCopter/Copter.h
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@ -968,7 +968,9 @@ private:
ModeDrift mode_drift; ModeDrift mode_drift;
#endif #endif
ModeFlip mode_flip; ModeFlip mode_flip;
#if MODE_GUIDED_ENABLED == ENABLED
ModeGuided mode_guided; ModeGuided mode_guided;
#endif
ModeLand mode_land; ModeLand mode_land;
#if MODE_LOITER_ENABLED == ENABLED #if MODE_LOITER_ENABLED == ENABLED
ModeLoiter mode_loiter; ModeLoiter mode_loiter;

2
ArduCopter/GCS_Mavlink.cpp
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@ -1341,6 +1341,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
break; break;
} }
#if MODE_GUIDED_ENABLED == ENABLED
case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: // MAV ID: 82 case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: // MAV ID: 82
{ {
// decode packet // decode packet
@ -1581,6 +1582,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
break; break;
} }
#endif
case MAVLINK_MSG_ID_DISTANCE_SENSOR: case MAVLINK_MSG_ID_DISTANCE_SENSOR:
{ {

10
ArduCopter/config.h
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@ -279,6 +279,12 @@
# define MODE_DRIFT_ENABLED ENABLED # define MODE_DRIFT_ENABLED ENABLED
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// Guided mode - control vehicle's position or angles from GCS
#ifndef MODE_GUIDED_ENABLED
# define MODE_GUIDED_ENABLED ENABLED
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Loiter mode - allows vehicle to hold global position // Loiter mode - allows vehicle to hold global position
#ifndef MODE_LOITER_ENABLED #ifndef MODE_LOITER_ENABLED
@ -616,6 +622,10 @@
#error AC_Avoidance relies on AC_FENCE which is disabled #error AC_Avoidance relies on AC_FENCE which is disabled
#endif #endif
#if MODE_AUTO_ENABLED && !MODE_GUIDED_ENABLED
#error ModeAuto requires ModeGuided which is disabled
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Developer Items // Developer Items
// //

2
ArduCopter/mode.cpp
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@ -66,9 +66,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
break; break;
#endif #endif
#if MODE_GUIDED_ENABLED == ENABLED
case GUIDED: case GUIDED:
ret = &mode_guided; ret = &mode_guided;
break; break;
#endif
case LAND: case LAND:
ret = &mode_land; ret = &mode_land;

2
ArduCopter/takeoff.cpp
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@ -36,12 +36,14 @@ bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
#endif #endif
switch(control_mode) { switch(control_mode) {
#if MODE_GUIDED_ENABLED == ENABLED
case GUIDED: case GUIDED:
if (mode_guided.takeoff_start(takeoff_alt_cm)) { if (mode_guided.takeoff_start(takeoff_alt_cm)) {
set_auto_armed(true); set_auto_armed(true);
return true; return true;
} }
return false; return false;
#endif
case LOITER: case LOITER:
case POSHOLD: case POSHOLD:
case ALT_HOLD: case ALT_HOLD: