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Copter: add use_pilot_yaw to Mode class

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Tatsuya Yamaguchi 2021-09-03 15:22:25 +09:00 committed by Randy Mackay
parent 9cba6fa7aa
commit d5a4ae864c
1 changed files with 8 additions and 5 deletions
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13
ArduCopter/mode.h
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@ -101,6 +101,9 @@ public:
return pos_control->get_vel_desired_cms(); return pos_control->get_vel_desired_cms();
} }
// returns true if pilot's yaw input should be used to adjust vehicle's heading
virtual bool use_pilot_yaw() const {return true; }
protected: protected:
// helper functions // helper functions
@ -394,6 +397,7 @@ public:
bool is_landing() const override; bool is_landing() const override;
bool is_taking_off() const override; bool is_taking_off() const override;
bool use_pilot_yaw() const override;
bool requires_terrain_failsafe() const override { return true; } bool requires_terrain_failsafe() const override { return true; }
@ -429,8 +433,6 @@ private:
IgnorePilotYaw = (1 << 2U), IgnorePilotYaw = (1 << 2U),
}; };
bool use_pilot_yaw(void) const;
bool start_command(const AP_Mission::Mission_Command& cmd); bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd); bool verify_command(const AP_Mission::Mission_Command& cmd);
void exit_mission(); void exit_mission();
@ -895,6 +897,8 @@ public:
// return guided mode timeout in milliseconds. Only used for velocity, acceleration and angle control // return guided mode timeout in milliseconds. Only used for velocity, acceleration and angle control
uint32_t get_timeout_ms() const; uint32_t get_timeout_ms() const;
bool use_pilot_yaw() const override;
protected: protected:
const char *name() const override { return "GUIDED"; } const char *name() const override { return "GUIDED"; }
@ -932,7 +936,6 @@ private:
void velaccel_control_run(); void velaccel_control_run();
void posvelaccel_control_run(); void posvelaccel_control_run();
void set_yaw_state(bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_angle); void set_yaw_state(bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_angle);
bool use_pilot_yaw(void) const;
// controls which controller is run (pos or vel): // controls which controller is run (pos or vel):
SubMode guided_mode = SubMode::TakeOff; SubMode guided_mode = SubMode::TakeOff;
@ -1157,6 +1160,8 @@ public:
// for reporting to GCS // for reporting to GCS
bool get_wp(Location &loc) override; bool get_wp(Location &loc) override;
bool use_pilot_yaw() const override;
// RTL states // RTL states
enum class SubMode : uint8_t { enum class SubMode : uint8_t {
STARTING, STARTING,
@ -1239,8 +1244,6 @@ private:
IgnorePilotYaw = (1U << 2), IgnorePilotYaw = (1U << 2),
}; };
bool use_pilot_yaw(void) const;
}; };