mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-07 16:38:30 -04:00
478 lines
15 KiB
C++
478 lines
15 KiB
C++
#pragma once
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// this class is #included into the Copter:: namespace
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class FlightMode {
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friend class Copter;
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friend class AP_Arming_Copter;
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public:
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FlightMode(Copter &copter) :
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_copter(copter),
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g(copter.g),
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g2(copter.g2),
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wp_nav(_copter.wp_nav),
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pos_control(_copter.pos_control),
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inertial_nav(_copter.inertial_nav),
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ahrs(_copter.ahrs),
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attitude_control(_copter.attitude_control),
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motors(_copter.motors),
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channel_roll(_copter.channel_roll),
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channel_pitch(_copter.channel_pitch),
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channel_throttle(_copter.channel_throttle),
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channel_yaw(_copter.channel_yaw),
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G_Dt(_copter.G_Dt),
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ap(_copter.ap),
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takeoff_state(_copter.takeoff_state),
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ekfGndSpdLimit(_copter.ekfGndSpdLimit),
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ekfNavVelGainScaler(_copter.ekfNavVelGainScaler),
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auto_yaw_mode(_copter.auto_yaw_mode)
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{ };
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protected:
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virtual bool init(bool ignore_checks) = 0;
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virtual void run() = 0; // should be called at 100hz or more
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virtual bool is_autopilot() const { return false; }
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virtual bool requires_GPS() const = 0;
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virtual bool has_manual_throttle() const = 0;
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virtual bool allows_arming(bool from_gcs) const = 0;
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void print_FlightMode(AP_HAL::BetterStream *port) const {
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port->print(name());
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}
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virtual const char *name() const = 0;
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// returns a string for this flightmode, exactly 4 bytes
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virtual const char *name4() const = 0;
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Copter &_copter;
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// convenience references to avoid code churn in conversion:
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Parameters &g;
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ParametersG2 &g2;
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AC_WPNav *&wp_nav;
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AC_PosControl *&pos_control;
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AP_InertialNav &inertial_nav;
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AP_AHRS &ahrs;
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AC_AttitudeControl_t *&attitude_control;
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MOTOR_CLASS *&motors;
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RC_Channel *&channel_roll;
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RC_Channel *&channel_pitch;
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RC_Channel *&channel_throttle;
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RC_Channel *&channel_yaw;
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float &G_Dt;
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ap_t ≈
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takeoff_state_t &takeoff_state;
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// gnd speed limit required to observe optical flow sensor limits
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float &ekfGndSpdLimit;
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// scale factor applied to velocity controller gain to prevent optical flow noise causing excessive angle demand noise
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float &ekfNavVelGainScaler;
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// Navigation Yaw control
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// auto flight mode's yaw mode
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uint8_t &auto_yaw_mode;
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// pass-through functions to reduce code churn on conversion;
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// these are candidates for moving into the FlightMode base
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// class.
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virtual void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max) {
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_copter.get_pilot_desired_lean_angles(roll_in, pitch_in, roll_out, pitch_out, angle_max);
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}
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virtual float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt) {
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return _copter.get_surface_tracking_climb_rate(target_rate, current_alt_target, dt);
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}
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virtual float get_pilot_desired_yaw_rate(int16_t stick_angle) {
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return _copter.get_pilot_desired_yaw_rate(stick_angle);
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}
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virtual float get_pilot_desired_climb_rate(float throttle_control) {
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return _copter.get_pilot_desired_climb_rate(throttle_control);
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}
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virtual float get_pilot_desired_throttle(int16_t throttle_control, float thr_mid = 0.0f) {
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return _copter.get_pilot_desired_throttle(throttle_control, thr_mid);
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}
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virtual float get_non_takeoff_throttle() {
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return _copter.get_non_takeoff_throttle();
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}
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virtual void update_simple_mode(void) {
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_copter.update_simple_mode();
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}
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virtual float get_smoothing_gain() {
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return _copter.get_smoothing_gain();
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}
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virtual bool set_mode(control_mode_t mode, mode_reason_t reason) {
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return _copter.set_mode(mode, reason);
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}
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virtual void set_land_complete(bool b) {
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return _copter.set_land_complete(b);
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}
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GCS_Copter &gcs() {
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return _copter.gcs();
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}
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virtual void Log_Write_Event(uint8_t id) {
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return _copter.Log_Write_Event(id);
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}
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virtual void set_throttle_takeoff() {
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return _copter.set_throttle_takeoff();
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}
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virtual void set_auto_yaw_mode(uint8_t yaw_mode) {
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return _copter.set_auto_yaw_mode(yaw_mode);
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}
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void set_auto_yaw_rate(float turn_rate_cds) {
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return _copter.set_auto_yaw_rate(turn_rate_cds);
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}
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void set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, bool relative_angle) {
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return _copter.set_auto_yaw_look_at_heading(angle_deg, turn_rate_dps, direction, relative_angle);
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}
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virtual void takeoff_timer_start(float alt_cm) {
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return _copter.takeoff_timer_start(alt_cm);
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}
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virtual void takeoff_stop() {
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return _copter.takeoff_stop();
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}
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virtual void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate) {
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return _copter.takeoff_get_climb_rates(pilot_climb_rate, takeoff_climb_rate);
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}
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float get_auto_heading() {
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return _copter.get_auto_heading();
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}
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float get_auto_yaw_rate_cds() {
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return _copter.get_auto_yaw_rate_cds();
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}
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float get_avoidance_adjusted_climbrate(float target_rate) {
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return _copter.get_avoidance_adjusted_climbrate(target_rate);
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}
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uint16_t get_pilot_speed_dn() {
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return _copter.get_pilot_speed_dn();
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}
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// end pass-through functions
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};
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class FlightMode_ACRO : public FlightMode {
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public:
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FlightMode_ACRO(Copter &copter) :
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Copter::FlightMode(copter)
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{ }
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virtual bool init(bool ignore_checks) override;
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virtual void run() override; // should be called at 100hz or more
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virtual bool is_autopilot() const override { return false; }
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virtual bool requires_GPS() const override { return false; }
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virtual bool has_manual_throttle() const override { return true; }
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virtual bool allows_arming(bool from_gcs) const override { return true; };
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protected:
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const char *name() const override { return "ACRO"; }
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const char *name4() const override { return "ACRO"; }
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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);
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private:
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};
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#if FRAME_CONFIG == HELI_FRAME
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class FlightMode_ACRO_Heli : public FlightMode_ACRO {
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public:
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FlightMode_ACRO_Heli(Copter &copter) :
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Copter::FlightMode_ACRO(copter)
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{ }
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bool init(bool ignore_checks) override;
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void run() override; // should be called at 100hz or more
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void get_pilot_desired_yaw_rate(int16_t yaw_in, float &yaw_out);
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protected:
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private:
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};
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#endif
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class FlightMode_ALTHOLD : public FlightMode {
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public:
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FlightMode_ALTHOLD(Copter &copter) :
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Copter::FlightMode(copter)
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{ }
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bool init(bool ignore_checks) override;
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void run() override; // should be called at 100hz or more
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bool requires_GPS() const override { return false; }
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bool has_manual_throttle() const override { return false; }
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bool allows_arming(bool from_gcs) const override { return true; };
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bool is_autopilot() const override { return false; }
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protected:
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const char *name() const override { return "ALT_HOLD"; }
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const char *name4() const override { return "ALTH"; }
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private:
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};
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class FlightMode_STABILIZE : public FlightMode {
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public:
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FlightMode_STABILIZE(Copter &copter) :
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Copter::FlightMode(copter)
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{ }
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virtual bool init(bool ignore_checks) override;
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virtual void run() override; // should be called at 100hz or more
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virtual bool requires_GPS() const override { return false; }
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virtual bool has_manual_throttle() const override { return true; }
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virtual bool allows_arming(bool from_gcs) const override { return true; };
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virtual bool is_autopilot() const override { return false; }
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protected:
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const char *name() const override { return "STABILIZE"; }
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const char *name4() const override { return "STAB"; }
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private:
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};
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#if FRAME_CONFIG == HELI_FRAME
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class FlightMode_STABILIZE_Heli : public FlightMode_STABILIZE {
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public:
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FlightMode_STABILIZE_Heli(Copter &copter) :
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Copter::FlightMode_STABILIZE(copter)
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{ }
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bool init(bool ignore_checks) override;
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void run() override; // should be called at 100hz or more
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protected:
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private:
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};
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#endif
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class FlightMode_AUTO : public FlightMode {
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public:
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FlightMode_AUTO(Copter &copter, AP_Mission &_mission, AC_Circle *& _circle_nav) :
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Copter::FlightMode(copter),
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mission(_mission),
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circle_nav(_circle_nav)
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{ }
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virtual bool init(bool ignore_checks) override;
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virtual void run() override; // should be called at 100hz or more
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virtual bool is_autopilot() const override { return true; }
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virtual bool requires_GPS() const override { return true; }
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virtual bool has_manual_throttle() const override { return false; }
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virtual bool allows_arming(bool from_gcs) const override { return false; };
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// Auto
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AutoMode mode() { return _mode; }
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bool loiter_start();
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void rtl_start();
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void takeoff_start(const Location& dest_loc);
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void wp_start(const Vector3f& destination);
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void wp_start(const Location_Class& dest_loc);
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void land_start();
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void land_start(const Vector3f& destination);
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void circle_movetoedge_start(const Location_Class &circle_center, float radius_m);
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void circle_start();
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void spline_start(const Vector3f& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Vector3f& next_spline_destination);
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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);
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void nav_guided_start();
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bool landing_gear_should_be_deployed();
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void payload_place_start();
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protected:
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const char *name() const override { return "AUTO"; }
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const char *name4() const override { return "AUTO"; }
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// 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);
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private:
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void takeoff_run();
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void wp_run();
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void spline_run();
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void land_run();
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void rtl_run();
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void circle_run();
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void nav_guided_run();
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void loiter_run();
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void payload_place_start(const Vector3f& destination);
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void payload_place_run();
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bool payload_place_run_should_run();
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void payload_place_run_loiter();
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void payload_place_run_descend();
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void payload_place_run_release();
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AutoMode _mode = Auto_TakeOff; // controls which auto controller is run
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AP_Mission &mission;
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AC_Circle *&circle_nav;
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};
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class FlightMode_CIRCLE : public FlightMode {
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public:
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FlightMode_CIRCLE(Copter &copter, AC_Circle *& _circle_nav) :
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Copter::FlightMode(copter),
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circle_nav(_circle_nav)
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{ }
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bool init(bool ignore_checks) override;
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void run() override; // should be called at 100hz or more
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bool requires_GPS() const override { return true; }
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bool has_manual_throttle() const override { return false; }
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bool allows_arming(bool from_gcs) const override { return false; };
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bool is_autopilot() const override { return true; }
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protected:
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const char *name() const override { return "CIRCLE"; }
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const char *name4() const override { return "CIRC"; }
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private:
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// Circle
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bool pilot_yaw_override = false; // true if pilot is overriding yaw
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AC_Circle *&circle_nav;
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};
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class FlightMode_LOITER : public FlightMode {
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public:
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FlightMode_LOITER(Copter &copter) :
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Copter::FlightMode(copter)
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{ }
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bool init(bool ignore_checks) override;
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void run() override; // should be called at 100hz or more
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bool requires_GPS() const override { return true; }
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bool has_manual_throttle() const override { return false; }
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bool allows_arming(bool from_gcs) const override { return true; };
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bool is_autopilot() const override { return false; }
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#if PRECISION_LANDING == ENABLED
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void set_precision_loiter_enabled(bool value) { _precision_loiter_enabled = value; }
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#endif
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protected:
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const char *name() const override { return "LOITER"; }
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const char *name4() const override { return "LOIT"; }
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#if PRECISION_LANDING == ENABLED
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bool do_precision_loiter();
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void precision_loiter_xy();
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#endif
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private:
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#if PRECISION_LANDING == ENABLED
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bool _precision_loiter_enabled;
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#endif
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};
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class FlightMode_GUIDED : public FlightMode {
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public:
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FlightMode_GUIDED(Copter &copter) :
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Copter::FlightMode(copter) { }
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bool init(bool ignore_checks) override;
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void run() override; // should be called at 100hz or more
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bool requires_GPS() const override { return true; }
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bool has_manual_throttle() const override { return false; }
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bool allows_arming(bool from_gcs) const override {
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if (from_gcs) {
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return true;
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}
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return false;
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};
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bool is_autopilot() const override { return true; }
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void set_angle(const Quaternion &q, float climb_rate_cms, bool use_yaw_rate, float yaw_rate_rads);
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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);
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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);
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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);
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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);
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void limit_clear();
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void limit_init_time_and_pos();
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void limit_set(uint32_t timeout_ms, float alt_min_cm, float alt_max_cm, float horiz_max_cm);
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bool limit_check();
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bool takeoff_start(float final_alt_above_home);
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GuidedMode mode() { return guided_mode; }
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void angle_control_start();
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void angle_control_run();
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protected:
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const char *name() const override { return "GUIDED"; }
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const char *name4() const override { return "GUID"; }
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private:
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void pos_control_start();
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void vel_control_start();
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void posvel_control_start();
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void takeoff_run();
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void pos_control_run();
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void vel_control_run();
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void posvel_control_run();
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void set_desired_velocity_with_accel_and_fence_limits(const Vector3f& vel_des);
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void set_yaw_state(bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_angle);
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// controls which controller is run (pos or vel):
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GuidedMode guided_mode = Guided_TakeOff;
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};
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