ardupilot/ArduSub/flight_mode.cpp

#include "Sub.h"

/*
 * flight.pde - high level calls to set and update flight modes
 *      logic for individual flight modes is in control_acro.pde, control_stabilize.pde, etc
 */

// set_mode - change flight mode and perform any necessary initialisation
// optional force parameter used to force the flight mode change (used only first time mode is set)
// returns true if mode was succesfully set
// ACRO, STABILIZE, ALTHOLD, LAND, DRIFT and SPORT can always be set successfully but the return state of other flight modes should be checked and the caller should deal with failures appropriately
bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
{
    // boolean to record if flight mode could be set
    bool success = false;
    bool ignore_checks = false; // Always check for now

    // return immediately if we are already in the desired mode
    if (mode == control_mode) {
        prev_control_mode = control_mode;
        prev_control_mode_reason = control_mode_reason;

        control_mode_reason = reason;
        return true;
    }

    switch (mode) {
    case ACRO:
        success = acro_init(ignore_checks);
        break;

    case STABILIZE:
        success = stabilize_init(ignore_checks);
        break;

    case ALT_HOLD:
        success = althold_init(ignore_checks);
        break;

    case AUTO:
        success = auto_init(ignore_checks);
        break;

    case CIRCLE:
        success = circle_init(ignore_checks);
        break;

    case VELHOLD:
        success = velhold_init(ignore_checks);
        break;

    case GUIDED:
        success = guided_init(ignore_checks);
        break;

    case SURFACE:
        success = surface_init(ignore_checks);
        break;

#if POSHOLD_ENABLED == ENABLED
    case POSHOLD:
        success = poshold_init(ignore_checks);
        break;
#endif

    case MANUAL:
        success = manual_init(ignore_checks);
        break;

    default:
        success = false;
        break;
    }

    // update flight mode
    if (success) {
        // perform any cleanup required by previous flight mode
        exit_mode(control_mode, mode);

        prev_control_mode = control_mode;
        prev_control_mode_reason = control_mode_reason;

        control_mode = mode;
        control_mode_reason = reason;
        DataFlash.Log_Write_Mode(control_mode, control_mode_reason);

#if AC_FENCE == ENABLED
        // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
        // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
        // but it should be harmless to disable the fence temporarily in these situations as well
        fence.manual_recovery_start();
#endif
    } else {
        // Log error that we failed to enter desired flight mode
        Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
    }

    // update notify object
    if (success) {
        notify_flight_mode(control_mode);
    }

    // return success or failure
    return success;
}

// update_flight_mode - calls the appropriate attitude controllers based on flight mode
// called at 100hz or more
void Sub::update_flight_mode()
{
    // Update EKF speed limit - used to limit speed when we are using optical flow
    ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);

    switch (control_mode) {
    case ACRO:
        acro_run();
        break;

    case STABILIZE:
        stabilize_run();
        break;

    case ALT_HOLD:
        althold_run();
        break;

    case AUTO:
        auto_run();
        break;

    case CIRCLE:
        circle_run();
        break;

    case VELHOLD:
        velhold_run();
        break;

    case GUIDED:
        guided_run();
        break;

    case SURFACE:
        surface_run();
        break;

#if POSHOLD_ENABLED == ENABLED
    case POSHOLD:
        poshold_run();
        break;
#endif

    case MANUAL:
        manual_run();
        break;

    default:
        break;
    }
}

// exit_mode - high level call to organise cleanup as a flight mode is exited
void Sub::exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode)
{
    // stop mission when we leave auto mode
    if (old_control_mode == AUTO) {
        if (mission.state() == AP_Mission::MISSION_RUNNING) {
            mission.stop();
        }
#if MOUNT == ENABLED
        camera_mount.set_mode_to_default();
#endif  // MOUNT == ENABLED
    }
}

// returns true or false whether mode requires GPS
bool Sub::mode_requires_GPS(control_mode_t mode)
{
    switch (mode) {
    case AUTO:
    case GUIDED:
    case VELHOLD:
    case CIRCLE:
    case POSHOLD:
        return true;
    default:
        return false;
    }

    return false;
}

// mode_has_manual_throttle - returns true if the flight mode has a manual throttle (i.e. pilot directly controls throttle)
bool Sub::mode_has_manual_throttle(control_mode_t mode)
{
    switch (mode) {
    case ACRO:
    case STABILIZE:
    case MANUAL:
        return true;
    default:
        return false;
    }

    return false;
}

// mode_allows_arming - returns true if vehicle can be armed in the specified mode
//  arming_from_gcs should be set to true if the arming request comes from the ground station
bool Sub::mode_allows_arming(control_mode_t mode, bool arming_from_gcs)
{
    if (mode_has_manual_throttle(mode) || mode == VELHOLD || mode == ALT_HOLD || mode == POSHOLD || (arming_from_gcs && mode == GUIDED)) {
        return true;
    }
    return false;
}

// notify_flight_mode - sets notify object based on flight mode.  Only used for OreoLED notify device
void Sub::notify_flight_mode(control_mode_t mode)
{
    switch (mode) {
    case AUTO:
    case GUIDED:
    case CIRCLE:
    case SURFACE:
        // autopilot modes
        AP_Notify::flags.autopilot_mode = true;
        break;
    default:
        // all other are manual flight modes
        AP_Notify::flags.autopilot_mode = false;
        break;
    }
}

//
// print_flight_mode - prints flight mode to serial port.
//
void Sub::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
{
    switch (mode) {
    case STABILIZE:
        port->print("STABILIZE");
        break;
    case ACRO:
        port->print("ACRO");
        break;
    case ALT_HOLD:
        port->print("ALT_HOLD");
        break;
    case AUTO:
        port->print("AUTO");
        break;
    case GUIDED:
        port->print("GUIDED");
        break;
    case VELHOLD:
        port->print("VELHOLD");
        break;
    case CIRCLE:
        port->print("CIRCLE");
        break;
    case SURFACE:
        port->print("SURFACE");
        break;
    case POSHOLD:
        port->print("POSHOLD");
        break;
    case MANUAL:
        port->print("MANUAL");
        break;
    default:
        port->printf("Mode(%u)", (unsigned)mode);
        break;
    }
}