mirror of https://github.com/ArduPilot/ardupilot
104 lines
3.2 KiB
C++
104 lines
3.2 KiB
C++
#include "Plane.h"
|
|
|
|
Mode::Mode()
|
|
{
|
|
}
|
|
|
|
void Mode::exit()
|
|
{
|
|
// call sub-classes exit
|
|
_exit();
|
|
}
|
|
|
|
bool Mode::enter()
|
|
{
|
|
// cancel inverted flight
|
|
plane.auto_state.inverted_flight = false;
|
|
|
|
// don't cross-track when starting a mission
|
|
plane.auto_state.next_wp_crosstrack = false;
|
|
|
|
// reset landing check
|
|
plane.auto_state.checked_for_autoland = false;
|
|
|
|
// zero locked course
|
|
plane.steer_state.locked_course_err = 0;
|
|
|
|
// reset crash detection
|
|
plane.crash_state.is_crashed = false;
|
|
plane.crash_state.impact_detected = false;
|
|
|
|
// reset external attitude guidance
|
|
plane.guided_state.last_forced_rpy_ms.zero();
|
|
plane.guided_state.last_forced_throttle_ms = 0;
|
|
|
|
#if OFFBOARD_GUIDED == ENABLED
|
|
plane.guided_state.target_heading = -4; // radians here are in range -3.14 to 3.14, so a default value needs to be outside that range
|
|
plane.guided_state.target_heading_type = GUIDED_HEADING_NONE;
|
|
plane.guided_state.target_airspeed_cm = -1; // same as above, although an airspeed of -1 is rare on plane.
|
|
plane.guided_state.target_alt = -1; // same as above, although a target alt of -1 is rare on plane.
|
|
plane.guided_state.last_target_alt = 0;
|
|
#endif
|
|
|
|
#if CAMERA == ENABLED
|
|
plane.camera.set_is_auto_mode(this == &plane.mode_auto);
|
|
#endif
|
|
|
|
// zero initial pitch and highest airspeed on mode change
|
|
plane.auto_state.highest_airspeed = 0;
|
|
plane.auto_state.initial_pitch_cd = plane.ahrs.pitch_sensor;
|
|
|
|
// disable taildrag takeoff on mode change
|
|
plane.auto_state.fbwa_tdrag_takeoff_mode = false;
|
|
|
|
// start with previous WP at current location
|
|
plane.prev_WP_loc = plane.current_loc;
|
|
|
|
// new mode means new loiter
|
|
plane.loiter.start_time_ms = 0;
|
|
|
|
// record time of mode change
|
|
plane.last_mode_change_ms = AP_HAL::millis();
|
|
|
|
// assume non-VTOL mode
|
|
plane.auto_state.vtol_mode = false;
|
|
plane.auto_state.vtol_loiter = false;
|
|
|
|
// initialize speed variable used in AUTO and GUIDED for DO_CHANGE_SPEED commands
|
|
plane.new_airspeed_cm = -1;
|
|
|
|
bool enter_result = _enter();
|
|
|
|
if (enter_result) {
|
|
// -------------------
|
|
// these must be done AFTER _enter() because they use the results to set more flags
|
|
|
|
// start with throttle suppressed in auto_throttle modes
|
|
plane.throttle_suppressed = does_auto_throttle();
|
|
#if HAL_ADSB_ENABLED
|
|
plane.adsb.set_is_auto_mode(does_auto_navigation());
|
|
#endif
|
|
|
|
// reset steering integrator on mode change
|
|
plane.steerController.reset_I();
|
|
|
|
// update RC failsafe, as mode change may have necessitated changing the failsafe throttle
|
|
plane.control_failsafe();
|
|
}
|
|
|
|
return enter_result;
|
|
}
|
|
|
|
bool Mode::is_vtol_man_throttle() const
|
|
{
|
|
if (plane.quadplane.is_tailsitter_in_fw_flight() &&
|
|
plane.quadplane.assisted_flight) {
|
|
// We are a tailsitter that has fully transitioned to Q-assisted forward flight.
|
|
// In this case the forward throttle directly drives the vertical throttle so
|
|
// set vertical throttle state to match the forward throttle state. Confusingly the booleans are inverted,
|
|
// forward throttle uses 'does_auto_throttle' whereas vertical uses 'is_vtol_man_throttle'.
|
|
return !does_auto_throttle();
|
|
}
|
|
return false;
|
|
}
|