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Plane: compile out ADSB mode if required

This commit is contained in:
Andy Piper 2020-09-22 18:00:39 +01:00 committed by Tom Pittenger
parent 38c52acf9b
commit d16872cca5
11 changed files with 38 additions and 18 deletions
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8
ArduPlane/Attitude.cpp
View File

@ -454,7 +454,7 @@ void Plane::calc_throttle()
int32_t commanded_throttle = SpdHgt_Controller->get_throttle_demand();
// Received an external msg that guides throttle in the last 3 seconds?
if ((control_mode == &mode_guided || control_mode == &mode_avoidADSB) &&
if (control_mode->is_guided_mode() &&
plane.guided_state.last_forced_throttle_ms > 0 &&
millis() - plane.guided_state.last_forced_throttle_ms < 3000) {
commanded_throttle = plane.guided_state.forced_throttle;
@ -478,7 +478,7 @@ void Plane::calc_nav_yaw_coordinated(float speed_scaler)
int16_t commanded_rudder;
// Received an external msg that guides yaw in the last 3 seconds?
if ((control_mode == &mode_guided || control_mode == &mode_avoidADSB) &&
if (control_mode->is_guided_mode() &&
plane.guided_state.last_forced_rpy_ms.z > 0 &&
millis() - plane.guided_state.last_forced_rpy_ms.z < 3000) {
commanded_rudder = plane.guided_state.forced_rpy_cd.z;
@ -566,7 +566,7 @@ void Plane::calc_nav_pitch()
int32_t commanded_pitch = SpdHgt_Controller->get_pitch_demand();
// Received an external msg that guides roll in the last 3 seconds?
if ((control_mode == &mode_guided || control_mode == &mode_avoidADSB) &&
if (control_mode->is_guided_mode() &&
plane.guided_state.last_forced_rpy_ms.y > 0 &&
millis() - plane.guided_state.last_forced_rpy_ms.y < 3000) {
commanded_pitch = plane.guided_state.forced_rpy_cd.y;
@ -584,7 +584,7 @@ void Plane::calc_nav_roll()
int32_t commanded_roll = nav_controller->nav_roll_cd();
// Received an external msg that guides roll in the last 3 seconds?
if ((control_mode == &mode_guided || control_mode == &mode_avoidADSB) &&
if (control_mode->is_guided_mode() &&
plane.guided_state.last_forced_rpy_ms.x > 0 &&
millis() - plane.guided_state.last_forced_rpy_ms.x < 3000) {
commanded_roll = plane.guided_state.forced_rpy_cd.x;

5
ArduPlane/GCS_Mavlink.cpp
View File

@ -967,9 +967,8 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
// controlled modes (e.g., MANUAL, TRAINING)
// this command should be ignored since it comes in from GCS
// or a companion computer:
if ((plane.control_mode != &plane.mode_guided) &&
(plane.control_mode != &plane.mode_auto) &&
(plane.control_mode != &plane.mode_avoidADSB)) {
if ((!plane.control_mode->is_guided_mode()) &&
(plane.control_mode != &plane.mode_auto)) {
// failed
return MAV_RESULT_FAILED;
}

4
ArduPlane/Plane.h
View File

@ -268,7 +268,9 @@ private:
ModeAuto mode_auto;
ModeRTL mode_rtl;
ModeLoiter mode_loiter;
#if HAL_ADSB_ENABLED
ModeAvoidADSB mode_avoidADSB;
#endif
ModeGuided mode_guided;
ModeInitializing mode_initializing;
ModeManual mode_manual;
@ -641,7 +643,7 @@ private:
#if HAL_ADSB_ENABLED
AP_ADSB adsb;
// avoidance of adsb enabled vehicles (normally manned vheicles)
// avoidance of adsb enabled vehicles (normally manned vehicles)
AP_Avoidance_Plane avoidance_adsb{adsb};
#endif

2
ArduPlane/avoidance_adsb.cpp
View File

@ -203,5 +203,5 @@ bool AP_Avoidance_Plane::handle_avoidance_horizontal(const AP_Avoidance::Obstacl
return false;
}
#endif
#endif // HAL_ADSB_ENABLED

3
ArduPlane/control_modes.cpp
View File

@ -41,8 +41,11 @@ Mode *Plane::mode_from_mode_num(const enum Mode::Number num)
ret = &mode_loiter;
break;
case Mode::Number::AVOID_ADSB:
#if HAL_ADSB_ENABLED
ret = &mode_avoidADSB;
break;
#endif
// if ADSB is not compiled in then fallthrough to guided
case Mode::Number::GUIDED:
ret = &mode_guided;
break;

7
ArduPlane/geofence.cpp
View File

@ -334,7 +334,7 @@ void Plane::geofence_check(bool altitude_check_only)
// GUIDED to the return point
if (geofence_state != nullptr &&
(g.fence_action == FENCE_ACTION_GUIDED || g.fence_action == FENCE_ACTION_GUIDED_THR_PASS || g.fence_action == FENCE_ACTION_RTL) &&
(control_mode == &mode_guided || control_mode == &mode_avoidADSB) &&
control_mode->is_guided_mode() &&
geofence_present() &&
geofence_state->boundary_uptodate &&
geofence_state->old_switch_position == oldSwitchPosition &&
@ -397,7 +397,8 @@ void Plane::geofence_check(bool altitude_check_only)
// we are outside the fence
if (geofence_state->fence_triggered &&
(control_mode == &mode_guided || control_mode == &mode_avoidADSB || control_mode == &mode_rtl || g.fence_action == FENCE_ACTION_REPORT)) {
(control_mode->is_guided_mode()
|| control_mode == &mode_rtl || g.fence_action == FENCE_ACTION_REPORT)) {
// we have already triggered, don't trigger again until the
// user disables/re-enables using the fence channel switch
return;
@ -481,7 +482,7 @@ bool Plane::geofence_stickmixing(void) {
if (geofence_enabled() &&
geofence_state != nullptr &&
geofence_state->fence_triggered &&
(control_mode == &mode_guided || control_mode == &mode_avoidADSB)) {
control_mode->is_guided_mode()) {
// don't mix in user input
return false;
}

10
ArduPlane/mode.h
View File

@ -5,6 +5,7 @@
#include <stdint.h>
#include <AP_Common/Location.h>
#include <AP_Soaring/AP_Soaring.h>
#include <AP_ADSB/AP_ADSB.h>
class Mode
{
@ -72,6 +73,8 @@ public:
virtual bool is_vtol_mode() const { return false; }
virtual bool is_vtol_man_throttle() const { return false; }
virtual bool is_vtol_man_mode() const { return false; }
// guided or adsb mode
virtual bool is_guided_mode() const { return false; }
// true if mode can have terrain following disabled by switch
virtual bool allows_terrain_disable() const { return false; }
@ -155,6 +158,8 @@ public:
void navigate() override;
virtual bool is_guided_mode() const override { return true; }
protected:
bool _enter() override;
@ -342,6 +347,7 @@ protected:
uint32_t lock_timer_ms;
};
#if HAL_ADSB_ENABLED
class ModeAvoidADSB : public Mode
{
public:
@ -354,10 +360,14 @@ public:
void update() override;
void navigate() override;
virtual bool is_guided_mode() const override { return true; }
protected:
bool _enter() override;
};
#endif
class ModeQStabilize : public Mode
{

4
ArduPlane/mode_avoidADSB.cpp
View File

@ -1,6 +1,8 @@
#include "mode.h"
#include "Plane.h"
#if HAL_ADSB_ENABLED
bool ModeAvoidADSB::_enter()
{
return plane.mode_guided.enter();
@ -17,3 +19,5 @@ void ModeAvoidADSB::navigate()
plane.update_loiter(0);
}
#endif // HAL_ADSB_ENABLED

2
ArduPlane/navigation.cpp
View File

@ -296,7 +296,7 @@ void Plane::update_loiter(uint16_t radius)
auto_state.wp_proportion > 1) {
// we've reached the target, start the timer
loiter.start_time_ms = millis();
if (control_mode == &mode_guided || control_mode == &mode_avoidADSB) {
if (control_mode->is_guided_mode()) {
// starting a loiter in GUIDED means we just reached the target point
gcs().send_mission_item_reached_message(0);
}

9
ArduPlane/quadplane.cpp
View File

@ -1350,8 +1350,7 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
if ((plane.g.stick_mixing == STICK_MIXING_DISABLED) &&
(plane.control_mode == &plane.mode_qrtl ||
plane.control_mode == &plane.mode_guided ||
plane.control_mode == &plane.mode_avoidADSB ||
plane.control_mode->is_guided_mode() ||
in_vtol_auto())) {
return 0;
}
@ -2246,7 +2245,8 @@ bool QuadPlane::in_vtol_mode(void) const
return false;
}
return (plane.control_mode->is_vtol_mode() ||
((plane.control_mode == &plane.mode_guided || plane.control_mode == &plane.mode_avoidADSB) && plane.auto_state.vtol_loiter) ||
(plane.control_mode->is_guided_mode()
&& plane.auto_state.vtol_loiter) ||
in_vtol_auto());
}
@ -2262,7 +2262,8 @@ bool QuadPlane::in_vtol_posvel_mode(void) const
plane.control_mode == &plane.mode_qland ||
plane.control_mode == &plane.mode_qrtl ||
plane.control_mode == &plane.mode_qautotune ||
((plane.control_mode == &plane.mode_guided || plane.control_mode == &plane.mode_avoidADSB) && plane.auto_state.vtol_loiter) ||
(plane.control_mode->is_guided_mode() &&
plane.auto_state.vtol_loiter) ||
in_vtol_auto());
}

2
ArduPlane/servos.cpp
View File

@ -548,7 +548,7 @@ void Plane::set_servos_controlled(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
constrain_int16(get_throttle_input(true), min_throttle, max_throttle));
}
} else if ((control_mode == &mode_guided || control_mode == &mode_avoidADSB) &&
} else if (control_mode->is_guided_mode() &&
guided_throttle_passthru) {
// manual pass through of throttle while in GUIDED
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));