#pragma once // this class is #included into the Copter:: namespace class FlightMode { friend class Copter; friend class AP_Arming_Copter; public: FlightMode(Copter &copter) : _copter(copter), g(copter.g), g2(copter.g2), wp_nav(_copter.wp_nav), pos_control(_copter.pos_control), inertial_nav(_copter.inertial_nav), ahrs(_copter.ahrs), attitude_control(_copter.attitude_control), motors(_copter.motors), channel_roll(_copter.channel_roll), channel_pitch(_copter.channel_pitch), channel_throttle(_copter.channel_throttle), channel_yaw(_copter.channel_yaw), G_Dt(_copter.G_Dt), ap(_copter.ap), takeoff_state(_copter.takeoff_state), ekfGndSpdLimit(_copter.ekfGndSpdLimit), ekfNavVelGainScaler(_copter.ekfNavVelGainScaler), #if FRAME_CONFIG == HELI_FRAME heli_flags(_copter.heli_flags), #endif auto_yaw_mode(_copter.auto_yaw_mode) { }; protected: virtual bool init(bool ignore_checks) = 0; virtual void run() = 0; virtual bool is_autopilot() const { return false; } virtual bool requires_GPS() const = 0; virtual bool has_manual_throttle() const = 0; virtual bool allows_arming(bool from_gcs) const = 0; void print_FlightMode(AP_HAL::BetterStream *port) const { port->print(name()); } virtual const char *name() const = 0; // returns a string for this flightmode, exactly 4 bytes virtual const char *name4() const = 0; // navigation support functions: void update_navigation(); virtual void run_autopilot() {} virtual uint32_t wp_distance() const { return 0; } virtual int32_t wp_bearing() const { return 0; } Copter &_copter; // convenience references to avoid code churn in conversion: Parameters &g; ParametersG2 &g2; AC_WPNav *&wp_nav; AC_PosControl *&pos_control; AP_InertialNav &inertial_nav; AP_AHRS &ahrs; AC_AttitudeControl_t *&attitude_control; MOTOR_CLASS *&motors; RC_Channel *&channel_roll; RC_Channel *&channel_pitch; RC_Channel *&channel_throttle; RC_Channel *&channel_yaw; float &G_Dt; ap_t ≈ takeoff_state_t &takeoff_state; // gnd speed limit required to observe optical flow sensor limits float &ekfGndSpdLimit; // scale factor applied to velocity controller gain to prevent optical flow noise causing excessive angle demand noise float &ekfNavVelGainScaler; // Navigation Yaw control // auto flight mode's yaw mode uint8_t &auto_yaw_mode; #if FRAME_CONFIG == HELI_FRAME heli_flags_t &heli_flags; #endif // pass-through functions to reduce code churn on conversion; // these are candidates for moving into the FlightMode base // class. void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max) { _copter.get_pilot_desired_lean_angles(roll_in, pitch_in, roll_out, pitch_out, angle_max); } float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt) { return _copter.get_surface_tracking_climb_rate(target_rate, current_alt_target, dt); } float get_pilot_desired_yaw_rate(int16_t stick_angle) { return _copter.get_pilot_desired_yaw_rate(stick_angle); } float get_pilot_desired_climb_rate(float throttle_control) { return _copter.get_pilot_desired_climb_rate(throttle_control); } float get_pilot_desired_throttle(int16_t throttle_control, float thr_mid = 0.0f) { return _copter.get_pilot_desired_throttle(throttle_control, thr_mid); } float get_non_takeoff_throttle() { return _copter.get_non_takeoff_throttle(); } void update_simple_mode(void) { _copter.update_simple_mode(); } float get_smoothing_gain() { return _copter.get_smoothing_gain(); } bool set_mode(control_mode_t mode, mode_reason_t reason) { return _copter.set_mode(mode, reason); } void set_land_complete(bool b) { return _copter.set_land_complete(b); } GCS_Copter &gcs() { return _copter.gcs(); } void Log_Write_Event(uint8_t id) { return _copter.Log_Write_Event(id); } void set_throttle_takeoff() { return _copter.set_throttle_takeoff(); } void set_auto_yaw_mode(uint8_t yaw_mode) { return _copter.set_auto_yaw_mode(yaw_mode); } void set_auto_yaw_rate(float turn_rate_cds) { return _copter.set_auto_yaw_rate(turn_rate_cds); } void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, bool relative_angle) { return _copter.set_auto_yaw_look_at_heading(angle_deg, turn_rate_dps, direction, relative_angle); } void takeoff_timer_start(float alt_cm) { return _copter.takeoff_timer_start(alt_cm); } void takeoff_stop() { return _copter.takeoff_stop(); } void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate) { return _copter.takeoff_get_climb_rates(pilot_climb_rate, takeoff_climb_rate); } float get_auto_heading() { return _copter.get_auto_heading(); } float get_auto_yaw_rate_cds() { return _copter.get_auto_yaw_rate_cds(); } float get_avoidance_adjusted_climbrate(float target_rate) { return _copter.get_avoidance_adjusted_climbrate(target_rate); } uint16_t get_pilot_speed_dn() { return _copter.get_pilot_speed_dn(); } // end pass-through functions }; class FlightMode_Acro : public FlightMode { public: FlightMode_Acro(Copter &copter) : Copter::FlightMode(copter) { } virtual bool init(bool ignore_checks) override; virtual void run() override; virtual bool is_autopilot() const override { return false; } virtual bool requires_GPS() const override { return false; } virtual bool has_manual_throttle() const override { return true; } virtual bool allows_arming(bool from_gcs) const override { return true; }; protected: const char *name() const override { return "ACRO"; } const char *name4() const override { return "ACRO"; } 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); private: }; #if FRAME_CONFIG == HELI_FRAME class FlightMode_Acro_Heli : public FlightMode_Acro { public: FlightMode_Acro_Heli(Copter &copter) : Copter::FlightMode_Acro(copter) { } bool init(bool ignore_checks) override; void run() override; protected: private: }; #endif class FlightMode_AltHold : public FlightMode { public: FlightMode_AltHold(Copter &copter) : Copter::FlightMode(copter) { } bool init(bool ignore_checks) override; void run() override; bool requires_GPS() const override { return false; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { return true; }; bool is_autopilot() const override { return false; } protected: const char *name() const override { return "ALT_HOLD"; } const char *name4() const override { return "ALTH"; } private: }; class FlightMode_Stabilize : public FlightMode { public: FlightMode_Stabilize(Copter &copter) : Copter::FlightMode(copter) { } virtual bool init(bool ignore_checks) override; virtual void run() override; virtual bool requires_GPS() const override { return false; } virtual bool has_manual_throttle() const override { return true; } virtual bool allows_arming(bool from_gcs) const override { return true; }; virtual bool is_autopilot() const override { return false; } protected: const char *name() const override { return "STABILIZE"; } const char *name4() const override { return "STAB"; } private: }; #if FRAME_CONFIG == HELI_FRAME class FlightMode_Stabilize_Heli : public FlightMode_Stabilize { public: FlightMode_Stabilize_Heli(Copter &copter) : Copter::FlightMode_Stabilize(copter) { } bool init(bool ignore_checks) override; void run() override; protected: private: }; #endif class FlightMode_Auto : public FlightMode { public: FlightMode_Auto(Copter &copter, AP_Mission &_mission, AC_Circle *& _circle_nav) : Copter::FlightMode(copter), mission(_mission), circle_nav(_circle_nav) { } virtual bool init(bool ignore_checks) override; virtual void run() override; virtual bool is_autopilot() const override { return true; } virtual bool requires_GPS() const override { return true; } virtual bool has_manual_throttle() const override { return false; } virtual bool allows_arming(bool from_gcs) const override { return false; }; // Auto AutoMode mode() const { return _mode; } bool loiter_start(); void rtl_start(); void takeoff_start(const Location& dest_loc); void wp_start(const Vector3f& destination); void wp_start(const Location_Class& dest_loc); void land_start(); void land_start(const Vector3f& destination); void circle_movetoedge_start(const Location_Class &circle_center, float radius_m); void circle_start(); void spline_start(const Vector3f& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Vector3f& next_spline_destination); void spline_start(const Location_Class& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location_Class& next_destination); void nav_guided_start(); bool landing_gear_should_be_deployed(); void payload_place_start(); protected: const char *name() const override { return "AUTO"; } const char *name4() const override { return "AUTO"; } uint32_t wp_distance() const override { return wp_nav->get_wp_distance_to_destination(); } int32_t wp_bearing() const override { return wp_nav->get_wp_bearing_to_destination(); } void run_autopilot() override { mission.update(); } // 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); private: void takeoff_run(); void wp_run(); void spline_run(); void land_run(); void rtl_run(); void circle_run(); void nav_guided_run(); void loiter_run(); void payload_place_start(const Vector3f& destination); void payload_place_run(); bool payload_place_run_should_run(); void payload_place_run_loiter(); void payload_place_run_descend(); void payload_place_run_release(); AutoMode _mode = Auto_TakeOff; // controls which auto controller is run AP_Mission &mission; AC_Circle *&circle_nav; }; class FlightMode_Circle : public FlightMode { public: FlightMode_Circle(Copter &copter, AC_Circle *& _circle_nav) : Copter::FlightMode(copter), circle_nav(_circle_nav) { } bool init(bool ignore_checks) override; void run() override; bool requires_GPS() const override { return true; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { return false; }; bool is_autopilot() const override { return true; } protected: const char *name() const override { return "CIRCLE"; } const char *name4() const override { return "CIRC"; } uint32_t wp_distance() const override { return wp_nav->get_loiter_distance_to_target(); } int32_t wp_bearing() const override { return wp_nav->get_loiter_bearing_to_target(); } private: // Circle bool pilot_yaw_override = false; // true if pilot is overriding yaw AC_Circle *&circle_nav; }; class FlightMode_Loiter : public FlightMode { public: FlightMode_Loiter(Copter &copter) : Copter::FlightMode(copter) { } bool init(bool ignore_checks) override; void run() override; bool requires_GPS() const override { return true; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { return true; }; bool is_autopilot() const override { return false; } #if PRECISION_LANDING == ENABLED void set_precision_loiter_enabled(bool value) { _precision_loiter_enabled = value; } #endif protected: const char *name() const override { return "LOITER"; } const char *name4() const override { return "LOIT"; } uint32_t wp_distance() const override { return wp_nav->get_loiter_distance_to_target(); } int32_t wp_bearing() const override { return wp_nav->get_loiter_bearing_to_target(); } #if PRECISION_LANDING == ENABLED bool do_precision_loiter(); void precision_loiter_xy(); #endif private: #if PRECISION_LANDING == ENABLED bool _precision_loiter_enabled; #endif }; class FlightMode_Guided : public FlightMode { public: FlightMode_Guided(Copter &copter) : Copter::FlightMode(copter) { } bool init(bool ignore_checks) override; void run() override; bool requires_GPS() const override { return true; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { if (from_gcs) { return true; } return false; }; bool is_autopilot() const override { return true; } void set_angle(const Quaternion &q, float climb_rate_cms, bool use_yaw_rate, float yaw_rate_rads); bool set_destination(const Vector3f& destination, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false); bool set_destination(const Location_Class& dest_loc, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false); void set_velocity(const Vector3f& velocity, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false); bool set_destination_posvel(const Vector3f& destination, const Vector3f& velocity, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false); void limit_clear(); void limit_init_time_and_pos(); void limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_max_cm, float horiz_max_cm); bool limit_check(); bool takeoff_start(float final_alt_above_home); GuidedMode mode() const { return guided_mode; } void angle_control_start(); void angle_control_run(); protected: const char *name() const override { return "GUIDED"; } const char *name4() const override { return "GUID"; } uint32_t wp_distance() const override; int32_t wp_bearing() const override; private: void pos_control_start(); void vel_control_start(); void posvel_control_start(); void takeoff_run(); void pos_control_run(); void vel_control_run(); void posvel_control_run(); void set_desired_velocity_with_accel_and_fence_limits(const Vector3f& vel_des); void set_yaw_state(bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_angle); // controls which controller is run (pos or vel): GuidedMode guided_mode = Guided_TakeOff; }; class FlightMode_Land : public FlightMode { public: FlightMode_Land(Copter &copter) : Copter::FlightMode(copter) { } bool init(bool ignore_checks) override; void run() override; bool requires_GPS() const override { return false; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { return false; }; bool is_autopilot() const override { return true; } float get_land_descent_speed(); bool landing_with_GPS(); void do_not_use_GPS(); int32_t get_alt_above_ground(void); protected: const char *name() const override { return "LAND"; } const char *name4() const override { return "LAND"; } private: void gps_run(); void nogps_run(); }; class FlightMode_RTL : public FlightMode { public: FlightMode_RTL(Copter &copter) : Copter::FlightMode(copter) { } bool init(bool ignore_checks) override; void run() override { return run(true); } void run(bool disarm_on_land); bool requires_GPS() const override { return true; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { return true; }; bool is_autopilot() const override { return true; } RTLState state() { return _state; } // this should probably not be exposed bool state_complete() { return _state_complete; } bool landing_gear_should_be_deployed(); void restart_without_terrain(); protected: const char *name() const override { return "RTL"; } const char *name4() const override { return "RTL "; } uint32_t wp_distance() const override { return wp_nav->get_wp_distance_to_destination(); } int32_t wp_bearing() const override { return wp_nav->get_wp_bearing_to_destination(); } void descent_start(); void descent_run(); void land_start(); void land_run(bool disarm_on_land); void set_descent_target_alt(uint32_t alt) { rtl_path.descent_target.alt = alt; } private: void climb_start(); void return_start(); void climb_return_run(); void loiterathome_start(); void loiterathome_run(); void build_path(bool terrain_following_allowed); void compute_return_target(bool terrain_following_allowed); // RTL RTLState _state = RTL_InitialClimb; // records state of rtl (initial climb, returning home, etc) bool _state_complete = false; // set to true if the current state is completed struct { // NEU w/ Z element alt-above-ekf-origin unless use_terrain is true in which case Z element is alt-above-terrain Location_Class origin_point; Location_Class climb_target; Location_Class return_target; Location_Class descent_target; bool land; bool terrain_used; } rtl_path; // Loiter timer - Records how long we have been in loiter uint32_t _loiter_start_time = 0; }; class FlightMode_Drift : public FlightMode { public: FlightMode_Drift(Copter &copter) : Copter::FlightMode(copter) { } virtual bool init(bool ignore_checks) override; virtual void run() override; virtual bool requires_GPS() const override { return true; } virtual bool has_manual_throttle() const override { return false; } virtual bool allows_arming(bool from_gcs) const override { return true; }; virtual bool is_autopilot() const override { return false; } protected: const char *name() const override { return "DRIFT"; } const char *name4() const override { return "DRIF"; } private: float get_throttle_assist(float velz, float pilot_throttle_scaled); }; class FlightMode_Sport : public FlightMode { public: FlightMode_Sport(Copter &copter) : Copter::FlightMode(copter) { } virtual bool init(bool ignore_checks) override; virtual void run() override; virtual bool requires_GPS() const override { return false; } virtual bool has_manual_throttle() const override { return false; } virtual bool allows_arming(bool from_gcs) const override { return true; }; virtual bool is_autopilot() const override { return false; } protected: const char *name() const override { return "SPORT"; } const char *name4() const override { return "SPRT"; } private: }; class FlightMode_Flip : public FlightMode { public: FlightMode_Flip(Copter &copter) : Copter::FlightMode(copter) { } virtual bool init(bool ignore_checks) override; virtual void run() override; virtual bool requires_GPS() const override { return false; } virtual bool has_manual_throttle() const override { return false; } virtual bool allows_arming(bool from_gcs) const override { return false; }; virtual bool is_autopilot() const override { return false; } protected: const char *name() const override { return "FLIP"; } const char *name4() const override { return "FLIP"; } private: // Flip Vector3f flip_orig_attitude; // original vehicle attitude before flip }; #if AUTOTUNE_ENABLED == ENABLED class FlightMode_AutoTune : public FlightMode { public: FlightMode_AutoTune(Copter &copter) : Copter::FlightMode(copter) { } bool init(bool ignore_checks) override; void run() override; bool requires_GPS() const override { return false; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { return false; }; bool is_autopilot() const override { return false; } void save_tuning_gains(); void stop(); protected: const char *name() const override { return "AUTOTUNE"; } const char *name4() const override { return "ATUN"; } private: bool start(bool ignore_checks); void autotune_attitude_control(); void backup_gains_and_initialise(); void load_orig_gains(); void load_tuned_gains(); void load_intra_test_gains(); void load_twitch_gains(); void update_gcs(uint8_t message_id); bool roll_enabled(); bool pitch_enabled(); bool yaw_enabled(); void twitching_test(float measurement, float target, float &measurement_min, float &measurement_max); void updating_d_up(float &tune_d, float tune_d_min, float tune_d_max, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max); void updating_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max); void updating_p_down(float &tune_p, float tune_p_min, float tune_p_step_ratio, float target, float measurement_max); void updating_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float target, float measurement_max); void updating_p_up_d_down(float &tune_d, float tune_d_min, float tune_d_step_ratio, float &tune_p, float tune_p_min, float tune_p_max, float tune_p_step_ratio, float target, float measurement_min, float measurement_max); void twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max); void get_poshold_attitude(float &roll_cd, float &pitch_cd, float &yaw_cd); void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt); void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds); void send_step_string(); const char *level_issue_string() const; const char * type_string() const; void announce_state_to_gcs(); void do_gcs_announcements(); enum LEVEL_ISSUE { LEVEL_ISSUE_NONE, LEVEL_ISSUE_ANGLE_ROLL, LEVEL_ISSUE_ANGLE_PITCH, LEVEL_ISSUE_ANGLE_YAW, LEVEL_ISSUE_RATE_ROLL, LEVEL_ISSUE_RATE_PITCH, LEVEL_ISSUE_RATE_YAW, }; bool check_level(const enum LEVEL_ISSUE issue, const float current, const float maximum); bool currently_level(); // autotune modes (high level states) enum TuneMode { UNINITIALISED = 0, // autotune has never been run TUNING = 1, // autotune is testing gains SUCCESS = 2, // tuning has completed, user is flight testing the new gains FAILED = 3, // tuning has failed, user is flying on original gains }; // steps performed while in the tuning mode enum StepType { WAITING_FOR_LEVEL = 0, // autotune is waiting for vehicle to return to level before beginning the next twitch TWITCHING = 1, // autotune has begun a twitch and is watching the resulting vehicle movement UPDATE_GAINS = 2 // autotune has completed a twitch and is updating the gains based on the results }; // things that can be tuned enum AxisType { ROLL = 0, // roll axis is being tuned (either angle or rate) PITCH = 1, // pitch axis is being tuned (either angle or rate) YAW = 2, // pitch axis is being tuned (either angle or rate) }; // mini steps performed while in Tuning mode, Testing step enum TuneType { RD_UP = 0, // rate D is being tuned up RD_DOWN = 1, // rate D is being tuned down RP_UP = 2, // rate P is being tuned up SP_DOWN = 3, // angle P is being tuned down SP_UP = 4 // angle P is being tuned up }; TuneMode mode : 2; // see TuneMode for what modes are allowed bool pilot_override : 1; // true = pilot is overriding controls so we suspend tuning temporarily AxisType axis : 2; // see AxisType for which things can be tuned bool positive_direction : 1; // false = tuning in negative direction (i.e. left for roll), true = positive direction (i.e. right for roll) StepType step : 2; // see StepType for what steps are performed TuneType tune_type : 3; // see TuneType bool ignore_next : 1; // true = ignore the next test bool twitch_first_iter : 1; // true on first iteration of a twitch (used to signal we must step the attitude or rate target) bool use_poshold : 1; // true = enable position hold bool have_position : 1; // true = start_position is value Vector3f start_position; // variables uint32_t override_time; // the last time the pilot overrode the controls float test_min; // the minimum angular rate achieved during TESTING_RATE step float test_max; // the maximum angular rate achieved during TESTING_RATE step uint32_t step_start_time; // start time of current tuning step (used for timeout checks) uint32_t step_stop_time; // start time of current tuning step (used for timeout checks) int8_t counter; // counter for tuning gains float target_rate, start_rate; // target and start rate float target_angle, start_angle; // target and start angles float desired_yaw; // yaw heading during tune float rate_max, test_accel_max; // maximum acceleration variables LowPassFilterFloat rotation_rate_filt; // filtered rotation rate in radians/second // backup of currently being tuned parameter values float orig_roll_rp = 0, orig_roll_ri, orig_roll_rd, orig_roll_sp, orig_roll_accel; float orig_pitch_rp = 0, orig_pitch_ri, orig_pitch_rd, orig_pitch_sp, orig_pitch_accel; float orig_yaw_rp = 0, orig_yaw_ri, orig_yaw_rd, orig_yaw_rLPF, orig_yaw_sp, orig_yaw_accel; bool orig_bf_feedforward; // currently being tuned parameter values float tune_roll_rp, tune_roll_rd, tune_roll_sp, tune_roll_accel; float tune_pitch_rp, tune_pitch_rd, tune_pitch_sp, tune_pitch_accel; float tune_yaw_rp, tune_yaw_rLPF, tune_yaw_sp, tune_yaw_accel; uint32_t announce_time; float lean_angle; float rotation_rate; float roll_cd, pitch_cd; struct { LEVEL_ISSUE issue{LEVEL_ISSUE_NONE}; float maximum; float current; } level_problem; }; #endif #if POSHOLD_ENABLED == ENABLED class FlightMode_PosHold : public FlightMode { public: FlightMode_PosHold(Copter &copter) : Copter::FlightMode(copter) { } bool init(bool ignore_checks) override; void run() override; bool requires_GPS() const override { return true; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { return true; }; bool is_autopilot() const override { return false; } protected: const char *name() const override { return "POSHOLD"; } const char *name4() const override { return "PHLD"; } private: void poshold_update_pilot_lean_angle(float &lean_angle_filtered, float &lean_angle_raw); int16_t poshold_mix_controls(float mix_ratio, int16_t first_control, int16_t second_control); void poshold_update_brake_angle_from_velocity(int16_t &brake_angle, float velocity); void poshold_update_wind_comp_estimate(); void poshold_get_wind_comp_lean_angles(int16_t &roll_angle, int16_t &pitch_angle); void poshold_roll_controller_to_pilot_override(); void poshold_pitch_controller_to_pilot_override(); }; #endif class FlightMode_Brake : public FlightMode { public: FlightMode_Brake(Copter &copter) : Copter::FlightMode(copter) { } bool init(bool ignore_checks) override; void run() override; bool requires_GPS() const override { return true; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { return false; }; bool is_autopilot() const override { return false; } void timeout_to_loiter_ms(uint32_t timeout_ms); protected: const char *name() const override { return "BRAKE"; } const char *name4() const override { return "BRAK"; } private: uint32_t _timeout_start; uint32_t _timeout_ms; }; class FlightMode_Avoid_ADSB : public FlightMode_Guided { public: FlightMode_Avoid_ADSB(Copter &copter) : Copter::FlightMode_Guided(copter) { } bool init(bool ignore_checks) override; void run() override; bool requires_GPS() const override { return true; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { return false; } bool is_autopilot() const override { return true; } bool set_velocity(const Vector3f& velocity_neu); protected: const char *name() const override { return "AVOID_ADSB"; } const char *name4() const override { return "AVOI"; } private: }; class FlightMode_Throw : public FlightMode { public: FlightMode_Throw(Copter &copter) : Copter::FlightMode(copter) { } bool init(bool ignore_checks) override; void run() override; bool requires_GPS() const override { return true; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { return true; }; bool is_autopilot() const override { return false; } protected: const char *name() const override { return "THROW"; } const char *name4() const override { return "THRW"; } private: bool throw_detected(); bool throw_position_good(); bool throw_height_good(); bool throw_attitude_good(); ThrowModeStage stage = Throw_Disarmed; ThrowModeStage prev_stage = Throw_Disarmed; uint32_t last_log_ms; bool nextmode_attempted; uint32_t free_fall_start_ms; // system time free fall was detected float free_fall_start_velz; // vertical velocity when free fall was detected }; class FlightMode_Guided_NoGPS : public FlightMode_Guided { public: FlightMode_Guided_NoGPS(Copter &copter) : Copter::FlightMode_Guided(copter) { } bool init(bool ignore_checks) override; void run() override; bool requires_GPS() const override { return true; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { if (from_gcs) { return true; } return false; } bool is_autopilot() const override { return true; } protected: const char *name() const override { return "GUIDED_NOGPS"; } const char *name4() const override { return "GNGP"; } private: }; class FlightMode_SmartRTL : public FlightMode_RTL { public: FlightMode_SmartRTL(Copter &copter) : FlightMode_SmartRTL::FlightMode_RTL(copter) { } bool init(bool ignore_checks) override; void run() override; bool requires_GPS() const override { return true; } bool has_manual_throttle() const override { return false; } bool allows_arming(bool from_gcs) const override { return false; } bool is_autopilot() const override { return true; } void save_position(); void exit(); protected: const char *name() const override { return "SMARTRTL"; } const char *name4() const override { return "SRTL"; } uint32_t wp_distance() const override { return wp_nav->get_wp_distance_to_destination(); } int32_t wp_bearing() const override { return wp_nav->get_wp_bearing_to_destination(); } private: void wait_cleanup_run(); void path_follow_run(); void pre_land_position_run(); void land(); SmartRTLState smart_rtl_state = SmartRTL_PathFollow; };