mirror of https://github.com/ArduPilot/ardupilot
1303 lines
42 KiB
C++
1303 lines
42 KiB
C++
#pragma once
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// this class is #included into the Copter:: namespace
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class Mode {
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friend class Copter;
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friend class AP_Arming_Copter;
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friend class ToyMode;
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friend class GCS_MAVLINK_Copter;
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// constructor
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Mode(void);
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public:
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// Navigation Yaw control
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class AutoYaw {
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public:
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// yaw(): main product of AutoYaw; the heading:
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float yaw();
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// mode(): current method of determining desired yaw:
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autopilot_yaw_mode mode() const { return (autopilot_yaw_mode)_mode; }
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void set_mode_to_default(bool rtl);
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void set_mode(autopilot_yaw_mode new_mode);
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autopilot_yaw_mode default_mode(bool rtl) const;
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// rate_cds(): desired yaw rate in centidegrees/second:
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float rate_cds() const;
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void set_rate(float new_rate_cds);
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// set_roi(...): set a "look at" location:
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void set_roi(const Location &roi_location);
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void set_fixed_yaw(float angle_deg,
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float turn_rate_dps,
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int8_t direction,
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bool relative_angle);
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private:
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float look_ahead_yaw();
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float roi_yaw();
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// auto flight mode's yaw mode
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uint8_t _mode = AUTO_YAW_LOOK_AT_NEXT_WP;
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// Yaw will point at this location if mode is set to AUTO_YAW_ROI
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Vector3f roi;
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// bearing from current location to the ROI
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float _roi_yaw;
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// yaw used for YAW_FIXED yaw_mode
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int32_t _fixed_yaw;
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// Deg/s we should turn
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int16_t _fixed_yaw_slewrate;
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// heading when in yaw_look_ahead_yaw
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float _look_ahead_yaw;
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// turn rate (in cds) when auto_yaw_mode is set to AUTO_YAW_RATE
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float _rate_cds;
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// used to reduce update rate to 100hz:
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uint8_t roi_yaw_counter;
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};
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static AutoYaw auto_yaw;
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bool do_user_takeoff(float takeoff_alt_cm, bool must_navigate);
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protected:
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virtual bool init(bool ignore_checks) = 0;
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virtual void run() = 0;
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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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virtual bool landing_gear_should_be_deployed() const { return false; }
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virtual const char *name() const = 0;
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virtual bool has_user_takeoff(bool must_navigate) const { return false; }
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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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// navigation support functions
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void update_navigation();
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virtual void run_autopilot() {}
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virtual uint32_t wp_distance() const { return 0; }
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virtual int32_t wp_bearing() const { return 0; }
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virtual float crosstrack_error() const { return 0.0f;}
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virtual bool get_wp(Location_Class &loc) { return false; };
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virtual bool in_guided_mode() const { return false; }
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// pilot input processing
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void get_pilot_desired_lean_angles(float &roll_out, float &pitch_out, float angle_max, float angle_limit) const;
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// takeoff support
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bool takeoff_triggered(float target_climb_rate) const;
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// helper functions
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void zero_throttle_and_relax_ac();
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// functions to control landing
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// in modes that support landing
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int32_t get_alt_above_ground(void);
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void land_run_horizontal_control();
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void land_run_vertical_control(bool pause_descent = false);
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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_Loiter *&loiter_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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// note that we support two entirely different automatic takeoffs:
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// "user-takeoff", which is available in modes such as ALT_HOLD
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// (see has_user_takeoff method). "user-takeoff" is a simple
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// reach-altitude-based-on-pilot-input-or-parameter routine.
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// "auto-takeoff" is used by both Guided and Auto, and is
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// basically waypoint navigation with pilot yaw permitted.
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// user-takeoff support; takeoff state is shared across all mode instances
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class _TakeOff {
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public:
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void start(float alt_cm);
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void stop();
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void get_climb_rates(float& pilot_climb_rate,
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float& takeoff_climb_rate);
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bool triggered(float target_climb_rate) const;
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bool running() const { return _running; }
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private:
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bool _running;
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float max_speed;
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float alt_delta;
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uint32_t start_ms;
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};
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static _TakeOff takeoff;
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static void takeoff_stop() { takeoff.stop(); }
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virtual bool do_user_takeoff_start(float takeoff_alt_cm);
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// method shared by both Guided and Auto for takeoff. This is
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// waypoint navigation but the user can control the yaw.
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void auto_takeoff_run();
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void auto_takeoff_set_start_alt(void);
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void auto_takeoff_attitude_run(float target_yaw_rate);
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// altitude below which we do no navigation in auto takeoff
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static float auto_takeoff_no_nav_alt_cm;
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#if FRAME_CONFIG == HELI_FRAME
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heli_flags_t &heli_flags;
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#endif
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// pass-through functions to reduce code churn on conversion;
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// these are candidates for moving into the Mode base
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// class.
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float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
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float get_pilot_desired_yaw_rate(int16_t stick_angle);
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float get_pilot_desired_climb_rate(float throttle_control);
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float get_pilot_desired_throttle(int16_t throttle_control, float thr_mid = 0.0f);
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float get_non_takeoff_throttle(void);
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void update_simple_mode(void);
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bool set_mode(control_mode_t mode, mode_reason_t reason);
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void set_land_complete(bool b);
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GCS_Copter &gcs();
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void Log_Write_Event(uint8_t id);
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void set_throttle_takeoff(void);
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float get_avoidance_adjusted_climbrate(float target_rate);
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uint16_t get_pilot_speed_dn(void);
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// end pass-through functions
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};
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#if MODE_ACRO_ENABLED == ENABLED
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class ModeAcro : public Mode {
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public:
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// inherit constructor
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using Copter::Mode::Mode;
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virtual bool init(bool ignore_checks) override;
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virtual void run() override;
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bool is_autopilot() const override { return false; }
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bool requires_GPS() const override { return false; }
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bool has_manual_throttle() const override { return true; }
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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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#endif
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#if FRAME_CONFIG == HELI_FRAME
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class ModeAcro_Heli : public ModeAcro {
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public:
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// inherit constructor
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using Copter::ModeAcro::Mode;
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bool init(bool ignore_checks) override;
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void run() override;
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protected:
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private:
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};
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#endif
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class ModeAltHold : public Mode {
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public:
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// inherit constructor
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using Copter::Mode::Mode;
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bool init(bool ignore_checks) override;
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void run() override;
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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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bool has_user_takeoff(bool must_navigate) const override {
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return !must_navigate;
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}
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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 ModeAuto : public Mode {
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public:
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// inherit constructor
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using Copter::Mode::Mode;
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bool init(bool ignore_checks) override;
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void run() override;
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bool is_autopilot() const override { return true; }
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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 in_guided_mode() const override { return mode() == Auto_NavGuided; }
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// Auto
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AutoMode mode() const { 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() const override;
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// return true if this flight mode supports user takeoff
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// must_nagivate is true if mode must also control horizontal position
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virtual bool has_user_takeoff(bool must_navigate) const override { return false; }
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void payload_place_start();
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// for GCS_MAVLink to call:
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bool do_guided(const AP_Mission::Mission_Command& cmd);
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AP_Mission mission{
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FUNCTOR_BIND_MEMBER(&Copter::ModeAuto::start_command, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Copter::ModeAuto::verify_command, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Copter::ModeAuto::exit_mission, void)};
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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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uint32_t wp_distance() const override;
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int32_t wp_bearing() const override;
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float crosstrack_error() const override { return wp_nav->crosstrack_error();}
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bool get_wp(Location_Class &loc) override;
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void run_autopilot() override;
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private:
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bool start_command(const AP_Mission::Mission_Command& cmd);
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bool verify_command(const AP_Mission::Mission_Command& cmd);
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void exit_mission();
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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 loiter_to_alt_run();
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Location_Class loc_from_cmd(const AP_Mission::Mission_Command& cmd) const;
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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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Location_Class terrain_adjusted_location(const AP_Mission::Mission_Command& cmd) const;
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void do_takeoff(const AP_Mission::Mission_Command& cmd);
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void do_nav_wp(const AP_Mission::Mission_Command& cmd);
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void do_land(const AP_Mission::Mission_Command& cmd);
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void do_loiter_unlimited(const AP_Mission::Mission_Command& cmd);
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void do_circle(const AP_Mission::Mission_Command& cmd);
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void do_loiter_time(const AP_Mission::Mission_Command& cmd);
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void do_loiter_to_alt(const AP_Mission::Mission_Command& cmd);
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void do_spline_wp(const AP_Mission::Mission_Command& cmd);
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#if NAV_GUIDED == ENABLED
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void do_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
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void do_guided_limits(const AP_Mission::Mission_Command& cmd);
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#endif
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void do_nav_delay(const AP_Mission::Mission_Command& cmd);
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void do_wait_delay(const AP_Mission::Mission_Command& cmd);
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void do_within_distance(const AP_Mission::Mission_Command& cmd);
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void do_yaw(const AP_Mission::Mission_Command& cmd);
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void do_change_speed(const AP_Mission::Mission_Command& cmd);
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void do_set_home(const AP_Mission::Mission_Command& cmd);
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void do_roi(const AP_Mission::Mission_Command& cmd);
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void do_mount_control(const AP_Mission::Mission_Command& cmd);
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#if PARACHUTE == ENABLED
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void do_parachute(const AP_Mission::Mission_Command& cmd);
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#endif
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#if WINCH_ENABLED == ENABLED
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void do_winch(const AP_Mission::Mission_Command& cmd);
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#endif
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void do_payload_place(const AP_Mission::Mission_Command& cmd);
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void do_RTL(void);
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bool verify_takeoff();
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bool verify_land();
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bool verify_payload_place();
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bool verify_loiter_unlimited();
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bool verify_loiter_time();
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bool verify_loiter_to_alt();
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bool verify_RTL();
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bool verify_wait_delay();
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bool verify_within_distance();
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bool verify_yaw();
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bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
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bool verify_circle(const AP_Mission::Mission_Command& cmd);
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bool verify_spline_wp(const AP_Mission::Mission_Command& cmd);
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#if NAV_GUIDED == ENABLED
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bool verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
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#endif
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bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
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void auto_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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// Loiter control
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uint16_t loiter_time_max; // How long we should stay in Loiter Mode for mission scripting (time in seconds)
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uint32_t loiter_time; // How long have we been loitering - The start time in millis
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struct {
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bool reached_destination_xy : 1;
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bool loiter_start_done : 1;
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bool reached_alt : 1;
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float alt_error_cm;
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int32_t alt;
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} loiter_to_alt;
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// Delay the next navigation command
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int32_t nav_delay_time_max; // used for delaying the navigation commands (eg land,takeoff etc.)
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uint32_t nav_delay_time_start;
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// Delay Mission Scripting Command
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int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)
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uint32_t condition_start;
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LandStateType land_state = LandStateType_FlyToLocation; // records state of land (flying to location, descending)
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struct {
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PayloadPlaceStateType state = PayloadPlaceStateType_Calibrating_Hover_Start; // records state of place (descending, releasing, released, ...)
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uint32_t hover_start_timestamp; // milliseconds
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float hover_throttle_level;
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uint32_t descend_start_timestamp; // milliseconds
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uint32_t place_start_timestamp; // milliseconds
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float descend_throttle_level;
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float descend_start_altitude;
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float descend_max; // centimetres
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} nav_payload_place;
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};
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#if AUTOTUNE_ENABLED == ENABLED
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class ModeAutoTune : public Mode {
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public:
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// inherit constructor
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using Copter::Mode::Mode;
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bool init(bool ignore_checks) override;
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void run() override;
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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 false; }
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bool is_autopilot() const override { return false; }
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void save_tuning_gains();
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void stop();
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protected:
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const char *name() const override { return "AUTOTUNE"; }
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const char *name4() const override { return "ATUN"; }
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private:
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bool start(bool ignore_checks);
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void autotune_attitude_control();
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void backup_gains_and_initialise();
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void load_orig_gains();
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void load_tuned_gains();
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void load_intra_test_gains();
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void load_twitch_gains();
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void update_gcs(uint8_t message_id);
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bool roll_enabled();
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bool pitch_enabled();
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bool yaw_enabled();
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void twitching_test_rate(float rate, float rate_target, float &meas_rate_min, float &meas_rate_max);
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void twitching_test_angle(float angle, float rate, float angle_target, float &meas_angle_min, float &meas_angle_max, float &meas_rate_min, float &meas_rate_max);
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void twitching_measure_acceleration(float &rate_of_change, float rate_measurement, float &rate_measurement_max);
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void updating_rate_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 rate_target, float meas_rate_min, float meas_rate_max);
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void updating_rate_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 rate_target, float meas_rate_min, float meas_rate_max);
|
|
void updating_rate_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 rate_target, float meas_rate_min, float meas_rate_max);
|
|
void updating_angle_p_down(float &tune_p, float tune_p_min, float tune_p_step_ratio, float angle_target, float meas_angle_max, float meas_rate_min, float meas_rate_max);
|
|
void updating_angle_p_up(float &tune_p, float tune_p_max, float tune_p_step_ratio, float angle_target, float meas_angle_max, float meas_rate_min, float meas_rate_max);
|
|
void get_poshold_attitude(float &roll_cd, float &pitch_cd, float &yaw_cd);
|
|
|
|
#if LOGGING_ENABLED == ENABLED
|
|
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);
|
|
#endif
|
|
|
|
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_rate_min; // the minimum angular rate achieved during TESTING_RATE step
|
|
float test_rate_max; // the maximum angular rate achieved during TESTING_RATE step
|
|
float test_angle_min; // the minimum angle achieved during TESTING_ANGLE step
|
|
float test_angle_max; // the maximum angle achieved during TESTING_ANGLE 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
|
|
|
|
|
|
class ModeBrake : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::Mode::Mode;
|
|
|
|
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 ModeCircle : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::Mode::Mode;
|
|
|
|
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;
|
|
int32_t wp_bearing() const override;
|
|
|
|
private:
|
|
|
|
// Circle
|
|
bool pilot_yaw_override = false; // true if pilot is overriding yaw
|
|
};
|
|
|
|
|
|
class ModeDrift : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::Mode::Mode;
|
|
|
|
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 "DRIFT"; }
|
|
const char *name4() const override { return "DRIF"; }
|
|
|
|
private:
|
|
|
|
float get_throttle_assist(float velz, float pilot_throttle_scaled);
|
|
|
|
};
|
|
|
|
|
|
class ModeFlip : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::Mode::Mode;
|
|
|
|
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; }
|
|
|
|
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 !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
|
|
/*
|
|
class to support FLOWHOLD mode, which is a position hold mode using
|
|
optical flow directly, avoiding the need for a rangefinder
|
|
*/
|
|
|
|
class ModeFlowHold : public Mode {
|
|
public:
|
|
// need a constructor for parameters
|
|
ModeFlowHold(void);
|
|
|
|
bool init(bool ignore_checks) override;
|
|
void run(void) 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; }
|
|
bool has_user_takeoff(bool must_navigate) const override {
|
|
return !must_navigate;
|
|
}
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
protected:
|
|
const char *name() const override { return "FLOWHOLD"; }
|
|
const char *name4() const override { return "FHLD"; }
|
|
|
|
private:
|
|
|
|
// FlowHold states
|
|
enum FlowHoldModeState {
|
|
FlowHold_MotorStopped,
|
|
FlowHold_Takeoff,
|
|
FlowHold_Flying,
|
|
FlowHold_Landed
|
|
};
|
|
|
|
// calculate attitude from flow data
|
|
void flow_to_angle(Vector2f &bf_angle);
|
|
|
|
LowPassFilterVector2f flow_filter;
|
|
|
|
bool flowhold_init(bool ignore_checks);
|
|
void flowhold_run();
|
|
void flowhold_flow_to_angle(Vector2f &angle, bool stick_input);
|
|
void update_height_estimate(void);
|
|
|
|
// minimum assumed height
|
|
const float height_min = 0.1;
|
|
|
|
// maximum scaling height
|
|
const float height_max = 3.0;
|
|
|
|
AP_Float flow_max;
|
|
AC_PI_2D flow_pi_xy{0.2, 0.3, 3000, 5, 0.0025};
|
|
AP_Float flow_filter_hz;
|
|
AP_Int8 flow_min_quality;
|
|
AP_Int8 brake_rate_dps;
|
|
|
|
float quality_filtered;
|
|
|
|
uint8_t log_counter;
|
|
bool limited;
|
|
Vector2f xy_I;
|
|
|
|
// accumulated INS delta velocity in north-east form since last flow update
|
|
Vector2f delta_velocity_ne;
|
|
|
|
// last flow rate in radians/sec in north-east axis
|
|
Vector2f last_flow_rate_rps;
|
|
|
|
// timestamp of last flow data
|
|
uint32_t last_flow_ms;
|
|
|
|
float last_ins_height;
|
|
float height_offset;
|
|
|
|
// are we braking after pilot input?
|
|
bool braking;
|
|
|
|
// last time there was significant stick input
|
|
uint32_t last_stick_input_ms;
|
|
};
|
|
#endif // OPTFLOW
|
|
|
|
|
|
class ModeGuided : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::Mode::Mode;
|
|
|
|
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 from_gcs; }
|
|
bool is_autopilot() const override { return true; }
|
|
bool in_guided_mode() const override { return true; }
|
|
bool has_user_takeoff(bool must_navigate) 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);
|
|
bool get_wp(Location_Class &loc) override;
|
|
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 log_request = true);
|
|
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 do_user_takeoff_start(float final_alt_above_home) override;
|
|
|
|
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;
|
|
float crosstrack_error() 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 ModeGuidedNoGPS : public ModeGuided {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::ModeGuided::Mode;
|
|
|
|
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 from_gcs; }
|
|
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 ModeLand : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::Mode::Mode;
|
|
|
|
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; }
|
|
bool landing_gear_should_be_deployed() const override { return true; };
|
|
|
|
void do_not_use_GPS();
|
|
|
|
protected:
|
|
|
|
const char *name() const override { return "LAND"; }
|
|
const char *name4() const override { return "LAND"; }
|
|
|
|
private:
|
|
|
|
void gps_run();
|
|
void nogps_run();
|
|
};
|
|
|
|
|
|
class ModeLoiter : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::Mode::Mode;
|
|
|
|
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; }
|
|
bool has_user_takeoff(bool must_navigate) const override { return true; }
|
|
|
|
#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;
|
|
int32_t wp_bearing() const override;
|
|
|
|
#if PRECISION_LANDING == ENABLED
|
|
bool do_precision_loiter();
|
|
void precision_loiter_xy();
|
|
#endif
|
|
|
|
private:
|
|
|
|
#if PRECISION_LANDING == ENABLED
|
|
bool _precision_loiter_enabled;
|
|
#endif
|
|
|
|
};
|
|
|
|
|
|
class ModePosHold : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::Mode::Mode;
|
|
|
|
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; }
|
|
bool has_user_takeoff(bool must_navigate) const override { return true; }
|
|
|
|
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();
|
|
|
|
};
|
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|
|
|
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class ModeRTL : public Mode {
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public:
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|
// inherit constructor
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|
using Copter::Mode::Mode;
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|
|
bool init(bool ignore_checks) override;
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|
void run() override {
|
|
return run(true);
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|
}
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|
void run(bool disarm_on_land);
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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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|
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RTLState state() { return _state; }
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|
|
// this should probably not be exposed
|
|
bool state_complete() { return _state_complete; }
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|
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bool landing_gear_should_be_deployed() const override;
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|
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void restart_without_terrain();
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protected:
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const char *name() const override { return "RTL"; }
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const char *name4() const override { return "RTL "; }
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uint32_t wp_distance() const override;
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int32_t wp_bearing() const override;
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float crosstrack_error() const override { return wp_nav->crosstrack_error();}
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void descent_start();
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|
void descent_run();
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|
void land_start();
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|
void land_run(bool disarm_on_land);
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|
|
void set_descent_target_alt(uint32_t alt) { rtl_path.descent_target.alt = alt; }
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|
|
|
private:
|
|
|
|
void climb_start();
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|
void return_start();
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|
void climb_return_run();
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|
void loiterathome_start();
|
|
void loiterathome_run();
|
|
void build_path(bool terrain_following_allowed);
|
|
void compute_return_target(bool terrain_following_allowed);
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|
|
|
// RTL
|
|
RTLState _state = RTL_InitialClimb; // records state of rtl (initial climb, returning home, etc)
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|
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;
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|
Location_Class climb_target;
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|
Location_Class return_target;
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|
Location_Class descent_target;
|
|
bool land;
|
|
bool terrain_used;
|
|
} rtl_path;
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|
|
|
// Loiter timer - Records how long we have been in loiter
|
|
uint32_t _loiter_start_time = 0;
|
|
};
|
|
|
|
|
|
class ModeSmartRTL : public ModeRTL {
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|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::ModeRTL::Mode;
|
|
|
|
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;
|
|
int32_t wp_bearing() const override;
|
|
float crosstrack_error() const override { return wp_nav->crosstrack_error();}
|
|
|
|
private:
|
|
|
|
void wait_cleanup_run();
|
|
void path_follow_run();
|
|
void pre_land_position_run();
|
|
void land();
|
|
SmartRTLState smart_rtl_state = SmartRTL_PathFollow;
|
|
|
|
};
|
|
|
|
|
|
class ModeSport : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::Mode::Mode;
|
|
|
|
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; }
|
|
bool has_user_takeoff(bool must_navigate) const override {
|
|
return !must_navigate;
|
|
}
|
|
|
|
protected:
|
|
|
|
const char *name() const override { return "SPORT"; }
|
|
const char *name4() const override { return "SPRT"; }
|
|
|
|
private:
|
|
|
|
};
|
|
|
|
|
|
class ModeStabilize : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::Mode::Mode;
|
|
|
|
virtual bool init(bool ignore_checks) override;
|
|
virtual void run() override;
|
|
|
|
bool requires_GPS() const override { return false; }
|
|
bool has_manual_throttle() const override { return true; }
|
|
bool allows_arming(bool from_gcs) const override { return true; };
|
|
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 ModeStabilize_Heli : public ModeStabilize {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::ModeStabilize::Mode;
|
|
|
|
bool init(bool ignore_checks) override;
|
|
void run() override;
|
|
|
|
protected:
|
|
|
|
private:
|
|
|
|
};
|
|
#endif
|
|
|
|
|
|
class ModeThrow : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::Mode::Mode;
|
|
|
|
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; }
|
|
|
|
// Throw types
|
|
enum ThrowModeType {
|
|
ThrowType_Upward = 0,
|
|
ThrowType_Drop = 1
|
|
};
|
|
|
|
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();
|
|
|
|
// Throw stages
|
|
enum ThrowModeStage {
|
|
Throw_Disarmed,
|
|
Throw_Detecting,
|
|
Throw_Uprighting,
|
|
Throw_HgtStabilise,
|
|
Throw_PosHold
|
|
};
|
|
|
|
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
|
|
};
|
|
|
|
// modes below rely on Guided mode so must be declared at the end (instead of in alphabetical order)
|
|
|
|
class ModeAvoidADSB : public ModeGuided {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Copter::ModeGuided::Mode;
|
|
|
|
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 ModeFollow : public ModeGuided {
|
|
|
|
public:
|
|
|
|
// inherit constructor
|
|
using Copter::ModeGuided::Mode;
|
|
|
|
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 "FOLLOW"; }
|
|
const char *name4() const override { return "FOLL"; }
|
|
|
|
uint32_t last_log_ms; // system time of last time desired velocity was logging
|
|
};
|
|
|
|
class ModeZigZag : public Mode {
|
|
|
|
public:
|
|
|
|
// inherit constructor
|
|
using Copter::Mode::Mode;
|
|
|
|
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; }
|
|
|
|
// save current position as A (dest_num = 0) or B (dest_num = 1). If both A and B have been saved move to the one specified
|
|
void save_or_move_to_destination(uint8_t dest_num);
|
|
|
|
// return manual control to the pilot
|
|
void return_to_manual_control();
|
|
|
|
protected:
|
|
|
|
const char *name() const override { return "ZIGZAG"; }
|
|
const char *name4() const override { return "ZIGZ"; }
|
|
|
|
private:
|
|
|
|
void auto_control();
|
|
void manual_control();
|
|
bool reached_destination();
|
|
bool calculate_next_dest(uint8_t position_num, Vector3f& next_dest) const;
|
|
|
|
Vector2f dest_A; // in NEU frame in cm relative to ekf origin
|
|
Vector2f dest_B; // in NEU frame in cm relative to ekf origin
|
|
|
|
enum zigzag_state {
|
|
STORING_POINTS, // storing points A and B, pilot has manual control
|
|
AUTO, // after A and B defined, pilot toggle the switch from one side to the other, vehicle flies autonomously
|
|
MANUAL_REGAIN // pilot toggle the switch to middle position, has manual control
|
|
} stage;
|
|
|
|
uint32_t reach_wp_time_ms = 0; // time since vehicle reached destination (or zero if not yet reached)
|
|
};
|