ardupilot/ArduCopter/toy_mode.h

182 lines
4.5 KiB
C++

#pragma once
/*
class to support "toy" mode for simplified user interaction for
large volume consumer vehicles
*/
class ToyMode
{
public:
friend class Copter;
ToyMode();
bool enabled(void) const {
return enable.get() != 0;
}
void update(void);
// get throttle mid-point
int16_t get_throttle_mid(void) {
return throttle_mid;
}
// adjust throttle for throttle takeoff
void throttle_adjust(float &throttle_control);
// handle mavlink message
void handle_message(const mavlink_message_t &msg);
void load_test_run(void);
static const struct AP_Param::GroupInfo var_info[];
private:
void trim_update(void);
void action_arm(void);
void blink_update(void);
void send_named_int(const char *name, int32_t value);
bool set_and_remember_mode(Mode::Number mode, mode_reason_t reason);
void thrust_limiting(float *thrust, uint8_t num_motors);
void arm_check_compass(void);
// work out type of button setup
bool is_v2450_buttons(void) const {
return enable == 1;
}
bool is_f412_buttons(void) const {
return enable == 2;
}
enum toy_action {
ACTION_NONE = 0,
ACTION_TAKE_PHOTO = 1,
ACTION_TOGGLE_VIDEO = 2,
ACTION_MODE_ACRO = 3,
ACTION_MODE_ALTHOLD = 4,
ACTION_MODE_AUTO = 5,
ACTION_MODE_LOITER = 6,
ACTION_MODE_RTL = 7,
ACTION_MODE_CIRCLE = 8,
ACTION_MODE_LAND = 9,
ACTION_MODE_DRIFT = 10,
ACTION_MODE_SPORT = 11,
ACTION_MODE_AUTOTUNE= 12,
ACTION_MODE_POSHOLD = 13,
ACTION_MODE_BRAKE = 14,
ACTION_MODE_THROW = 15,
ACTION_MODE_FLIP = 16,
ACTION_MODE_STAB = 17,
ACTION_DISARM = 18,
ACTION_TOGGLE_MODE = 19,
ACTION_ARM_LAND_RTL = 20,
ACTION_TOGGLE_SIMPLE = 21,
ACTION_TOGGLE_SSIMPLE = 22,
ACTION_LOAD_TEST = 23,
ACTION_MODE_FLOW = 24,
};
enum toy_action last_action;
// these are bitmask indexes for TMODE_FLAGS
enum toy_flags {
FLAG_THR_DISARM = 1<<0, // disarm on low throttle
FLAG_THR_ARM = 1<<1, // arm on high throttle
FLAG_UPGRADE_LOITER = 1<<2, // auto upgrade from ALT_HOLD to LOITER
FLAG_RTL_CANCEL = 1<<3, // cancel RTL on large stick input
};
enum blink_patterns {
BLINK_FULL = 0xFFFF,
BLINK_OFF = 0x0000,
BLINK_1 = 0xBFFF,
BLINK_2 = 0xAFFF,
BLINK_3 = 0xABFF,
BLINK_4 = 0xAAFF,
BLINK_6 = 0xAAAF,
BLINK_8 = 0xAAAA,
BLINK_NO_RX = 0x1111,
BLINK_SLOW_1 = 0xF0FF,
BLINK_VSLOW = 0xF000,
BLINK_MED_1 = 0xF0F0,
};
bool done_first_update;
AP_Int8 enable;
AP_Int8 primary_mode[2];
AP_Int8 actions[9];
AP_Int8 trim_auto;
AP_Int16 flags;
struct {
uint32_t start_ms;
uint16_t chan[4];
} trim;
uint32_t power_counter;
uint32_t throttle_low_counter;
uint32_t throttle_high_counter;
uint16_t last_ch5;
bool last_left_button;
uint8_t last_mode_choice;
int32_t left_press_counter;
int32_t right_press_counter;
bool ignore_left_change;
int16_t throttle_mid = 500;
uint32_t throttle_arm_ms;
bool upgrade_to_loiter;
uint32_t last_action_ms;
uint32_t reset_turtle_start_ms;
// time when we were last told we are recording video
uint32_t last_video_ms;
// current blink indexes
uint16_t red_blink_pattern;
uint16_t green_blink_pattern;
uint8_t red_blink_index;
uint8_t green_blink_index;
uint16_t red_blink_count;
uint16_t green_blink_count;
uint8_t blink_disarm;
struct {
AP_Float volt_min;
AP_Float volt_max;
AP_Float thrust_min;
AP_Float thrust_max;
} filter;
// low-pass voltage
float filtered_voltage = 4.0;
uint8_t motor_log_counter;
// remember the last mode we set
Mode::Number last_set_mode = Mode::Number::LOITER;
struct load_data {
uint16_t m[4];
};
enum load_type {
LOAD_TYPE_CONSTANT=0,
LOAD_TYPE_LOG1=1,
LOAD_TYPE_LOG2=2,
};
struct {
bool running;
uint32_t row;
uint8_t filter_counter;
AP_Float load_mul;
AP_Int8 load_filter;
AP_Int8 load_type;
} load_test;
static const struct load_data load_data1[];
};