mirror of https://github.com/ArduPilot/ardupilot
1715 lines
58 KiB
C++
1715 lines
58 KiB
C++
#pragma once
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#include "Copter.h"
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class Parameters;
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class ParametersG2;
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class GCS_Copter;
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class Mode {
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public:
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// Auto Pilot Modes enumeration
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enum class Number : uint8_t {
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STABILIZE = 0, // manual airframe angle with manual throttle
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ACRO = 1, // manual body-frame angular rate with manual throttle
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ALT_HOLD = 2, // manual airframe angle with automatic throttle
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AUTO = 3, // fully automatic waypoint control using mission commands
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GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
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LOITER = 5, // automatic horizontal acceleration with automatic throttle
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RTL = 6, // automatic return to launching point
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CIRCLE = 7, // automatic circular flight with automatic throttle
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LAND = 9, // automatic landing with horizontal position control
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DRIFT = 11, // semi-autonomous position, yaw and throttle control
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SPORT = 13, // manual earth-frame angular rate control with manual throttle
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FLIP = 14, // automatically flip the vehicle on the roll axis
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AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
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POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
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BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
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THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
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AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
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GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude
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SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps
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FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder
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FOLLOW = 23, // follow attempts to follow another vehicle or ground station
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ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
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SYSTEMID = 25, // System ID mode produces automated system identification signals in the controllers
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AUTOROTATE = 26, // Autonomous autorotation
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};
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// constructor
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Mode(void);
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// do not allow copying
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Mode(const Mode &other) = delete;
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Mode &operator=(const Mode&) = delete;
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// returns a unique number specific to this mode
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virtual Number mode_number() const = 0;
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// child classes should override these methods
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virtual bool init(bool ignore_checks) {
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return true;
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}
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virtual void exit() {};
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virtual void run() = 0;
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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(AP_Arming::Method method) const = 0;
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virtual bool is_autopilot() const { return false; }
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virtual bool has_user_takeoff(bool must_navigate) const { return false; }
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virtual bool in_guided_mode() const { return false; }
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virtual bool logs_attitude() const { return false; }
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virtual bool allows_save_trim() const { return false; }
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virtual bool allows_autotune() const { return false; }
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virtual bool allows_flip() const { return false; }
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// return a string for this flightmode
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virtual const char *name() const = 0;
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virtual const char *name4() const = 0;
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bool do_user_takeoff(float takeoff_alt_cm, bool must_navigate);
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virtual bool is_taking_off() const;
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static void takeoff_stop() { takeoff.stop(); }
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virtual bool is_landing() const { return false; }
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// mode requires terrain to be present to be functional
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virtual bool requires_terrain_failsafe() const { return false; }
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// functions for reporting to GCS
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virtual bool get_wp(Location &loc) { return false; };
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virtual int32_t wp_bearing() const { return 0; }
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virtual uint32_t wp_distance() const { return 0; }
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virtual float crosstrack_error() const { return 0.0f;}
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int32_t get_alt_above_ground_cm(void);
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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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float get_pilot_desired_yaw_rate(int16_t stick_angle);
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float get_pilot_desired_throttle() const;
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// returns climb target_rate reduced to avoid obstacles and
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// altitude fence
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float get_avoidance_adjusted_climbrate(float target_rate);
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const Vector3f& get_vel_desired_cms() {
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// note that position control isn't used in every mode, so
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// this may return bogus data:
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return pos_control->get_vel_desired_cms();
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}
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protected:
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// helper functions
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bool is_disarmed_or_landed() const;
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void zero_throttle_and_relax_ac(bool spool_up = false);
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void zero_throttle_and_hold_attitude();
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void make_safe_ground_handling(bool force_throttle_unlimited = false);
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// functions to control landing
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// in modes that support landing
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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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// return expected input throttle setting to hover:
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virtual float throttle_hover() const;
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// Alt_Hold based flight mode states used in Alt_Hold, Loiter, and Sport
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enum AltHoldModeState {
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AltHold_MotorStopped,
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AltHold_Takeoff,
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AltHold_Landed_Ground_Idle,
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AltHold_Landed_Pre_Takeoff,
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AltHold_Flying
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};
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AltHoldModeState get_alt_hold_state(float target_climb_rate_cms);
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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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// 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 do_pilot_takeoff(float& pilot_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 take_off_start_alt;
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float take_off_complete_alt ;
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};
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static _TakeOff takeoff;
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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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// altitude above-ekf-origin below which auto takeoff does not control horizontal position
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static bool auto_takeoff_no_nav_active;
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static float auto_takeoff_no_nav_alt_cm;
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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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void set_yaw_angle_rate(float yaw_angle_d, float yaw_rate_ds);
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private:
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float look_ahead_yaw();
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float roi_yaw() const;
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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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// yaw used for YAW_FIXED yaw_mode
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float _fixed_yaw_offset_cd;
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// Deg/s we should turn
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float _fixed_yaw_slewrate_cds;
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// time of the last yaw update
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uint32_t _last_update_ms;
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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 _yaw_angle_cd;
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float _yaw_rate_cds;
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};
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static AutoYaw auto_yaw;
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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_pilot_desired_climb_rate(float throttle_control);
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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(Mode::Number mode, ModeReason reason);
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void set_land_complete(bool b);
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GCS_Copter &gcs();
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void set_throttle_takeoff(void);
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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 Mode::Mode;
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Number mode_number() const override { return Number::ACRO; }
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enum class Trainer {
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OFF = 0,
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LEVELING = 1,
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LIMITED = 2,
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};
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enum class AcroOptions {
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AIR_MODE = 1 << 0,
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RATE_LOOP_ONLY = 1 << 1,
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};
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virtual 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 true; }
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bool allows_arming(AP_Arming::Method method) const override { return true; };
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bool is_autopilot() const override { return false; }
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bool init(bool ignore_checks) override;
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void exit() override;
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// whether an air-mode aux switch has been toggled
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void air_mode_aux_changed();
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bool allows_save_trim() const override { return true; }
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bool allows_flip() 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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float throttle_hover() const override;
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private:
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bool disable_air_mode_reset;
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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 ModeAcro::Mode;
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bool init(bool ignore_checks) override;
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void run() override;
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void virtual_flybar( float &roll_out, float &pitch_out, float &yaw_out, float pitch_leak, float roll_leak);
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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 Mode::Mode;
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Number mode_number() const override { return Number::ALT_HOLD; }
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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(AP_Arming::Method method) 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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bool allows_autotune() const override { return true; }
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bool allows_flip() const override { return true; }
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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 Mode::Mode;
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Number mode_number() const override { return Number::AUTO; }
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bool init(bool ignore_checks) override;
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void exit() override;
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void run() override;
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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(AP_Arming::Method method) const override;
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bool is_autopilot() const override { return true; }
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bool in_guided_mode() const override { return mode() == SubMode::NAVGUIDED; }
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// Auto modes
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enum class SubMode : uint8_t {
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TAKEOFF,
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WP,
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LAND,
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RTL,
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CIRCLE_MOVE_TO_EDGE,
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CIRCLE,
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NAVGUIDED,
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LOITER,
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LOITER_TO_ALT,
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NAV_PAYLOAD_PLACE,
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};
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// Auto
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SubMode 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 Location& dest_loc);
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void land_start();
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void land_start(const Vector2f& destination);
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void circle_movetoedge_start(const Location &circle_center, float radius_m);
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void circle_start();
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void nav_guided_start();
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bool is_landing() const override;
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bool is_taking_off() const override;
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bool requires_terrain_failsafe() const override { return true; }
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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(&ModeAuto::start_command, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&ModeAuto::verify_command, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&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 &loc) override;
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private:
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enum class Options : int32_t {
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AllowArming = (1 << 0U),
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AllowTakeOffWithoutRaisingThrottle = (1 << 1U),
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IgnorePilotYaw = (1 << 2U),
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};
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bool use_pilot_yaw(void) const;
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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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bool check_for_mission_change(); // detect external changes to mission
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void takeoff_run();
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void wp_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 loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc) const;
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void payload_place_start(const Vector2f& 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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SubMode _mode = SubMode::TAKEOFF; // controls which auto controller is run
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Location 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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bool set_next_wp(const AP_Mission::Mission_Command& current_cmd, const Location &default_loc);
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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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void get_spline_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc, Location& dest_loc, Location& next_dest_loc, bool& next_dest_loc_is_spline);
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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();
|
|
bool verify_land();
|
|
bool verify_payload_place();
|
|
bool verify_loiter_unlimited();
|
|
bool verify_loiter_time(const AP_Mission::Mission_Command& cmd);
|
|
bool verify_loiter_to_alt() const;
|
|
bool verify_RTL();
|
|
bool verify_wait_delay();
|
|
bool verify_within_distance();
|
|
bool verify_yaw();
|
|
bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
|
|
bool verify_circle(const AP_Mission::Mission_Command& cmd);
|
|
bool verify_spline_wp(const AP_Mission::Mission_Command& cmd);
|
|
#if NAV_GUIDED == ENABLED
|
|
bool verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
|
|
#endif
|
|
bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
|
|
|
|
// Loiter control
|
|
uint16_t loiter_time_max; // How long we should stay in Loiter Mode for mission scripting (time in seconds)
|
|
uint32_t loiter_time; // How long have we been loitering - The start time in millis
|
|
|
|
struct {
|
|
bool reached_destination_xy : 1;
|
|
bool loiter_start_done : 1;
|
|
bool reached_alt : 1;
|
|
float alt_error_cm;
|
|
int32_t alt;
|
|
} loiter_to_alt;
|
|
|
|
// Delay the next navigation command
|
|
uint32_t nav_delay_time_max_ms; // used for delaying the navigation commands (eg land,takeoff etc.)
|
|
uint32_t nav_delay_time_start_ms;
|
|
|
|
// Delay Mission Scripting Command
|
|
int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)
|
|
uint32_t condition_start;
|
|
|
|
enum class State {
|
|
FlyToLocation = 0,
|
|
Descending = 1
|
|
};
|
|
State state = State::FlyToLocation;
|
|
|
|
struct {
|
|
PayloadPlaceStateType state = PayloadPlaceStateType_Calibrating_Hover_Start; // records state of place (descending, releasing, released, ...)
|
|
uint32_t hover_start_timestamp; // milliseconds
|
|
float hover_throttle_level;
|
|
uint32_t descend_start_timestamp; // milliseconds
|
|
uint32_t place_start_timestamp; // milliseconds
|
|
float descend_throttle_level;
|
|
float descend_start_altitude;
|
|
float descend_max; // centimetres
|
|
} nav_payload_place;
|
|
|
|
bool waiting_to_start; // true if waiting for vehicle to be armed or EKF origin before starting mission
|
|
|
|
// variables to detect mission changes
|
|
static const uint8_t mis_change_detect_cmd_max = 3;
|
|
struct {
|
|
uint32_t last_change_time_ms; // local copy of last time mission was changed
|
|
uint16_t curr_cmd_index; // local copy of AP_Mission's current command index
|
|
uint8_t cmd_count; // number of commands in the cmd array
|
|
AP_Mission::Mission_Command cmd[mis_change_detect_cmd_max]; // local copy of the next few mission commands
|
|
} mis_change_detect = {};
|
|
};
|
|
|
|
#if AUTOTUNE_ENABLED == ENABLED
|
|
/*
|
|
wrapper class for AC_AutoTune
|
|
*/
|
|
class AutoTune : public AC_AutoTune
|
|
{
|
|
public:
|
|
bool init() override;
|
|
void run() override;
|
|
|
|
protected:
|
|
bool position_ok() override;
|
|
float get_pilot_desired_climb_rate_cms(void) const override;
|
|
void get_pilot_desired_rp_yrate_cd(float &roll_cd, float &pitch_cd, float &yaw_rate_cds) override;
|
|
void init_z_limits() override;
|
|
void log_pids() override;
|
|
};
|
|
|
|
class ModeAutoTune : public Mode {
|
|
|
|
// ParametersG2 sets a pointer within our autotune object:
|
|
friend class ParametersG2;
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Mode::Mode;
|
|
Number mode_number() const override { return Number::AUTOTUNE; }
|
|
|
|
bool init(bool ignore_checks) override;
|
|
void exit() override;
|
|
void run() override;
|
|
|
|
bool requires_GPS() const override { return false; }
|
|
bool has_manual_throttle() const override { return false; }
|
|
bool allows_arming(AP_Arming::Method method) const override { return false; }
|
|
bool is_autopilot() const override { return false; }
|
|
|
|
void save_tuning_gains();
|
|
void reset();
|
|
|
|
protected:
|
|
|
|
const char *name() const override { return "AUTOTUNE"; }
|
|
const char *name4() const override { return "ATUN"; }
|
|
|
|
private:
|
|
|
|
AutoTune autotune;
|
|
|
|
};
|
|
#endif
|
|
|
|
|
|
class ModeBrake : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Mode::Mode;
|
|
Number mode_number() const override { return Number::BRAKE; }
|
|
|
|
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(AP_Arming::Method method) 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 Mode::Mode;
|
|
Number mode_number() const override { return Number::CIRCLE; }
|
|
|
|
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(AP_Arming::Method method) 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
|
|
bool speed_changing = false; // true when the roll stick is being held to facilitate stopping at 0 rate
|
|
};
|
|
|
|
|
|
class ModeDrift : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Mode::Mode;
|
|
Number mode_number() const override { return Number::DRIFT; }
|
|
|
|
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(AP_Arming::Method method) 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 Mode::Mode;
|
|
Number mode_number() const override { return Number::FLIP; }
|
|
|
|
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(AP_Arming::Method method) 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 orig_attitude; // original vehicle attitude before flip
|
|
|
|
enum class FlipState : uint8_t {
|
|
Start,
|
|
Roll,
|
|
Pitch_A,
|
|
Pitch_B,
|
|
Recover,
|
|
Abandon
|
|
};
|
|
FlipState _state; // current state of flip
|
|
Mode::Number orig_control_mode; // flight mode when flip was initated
|
|
uint32_t start_time_ms; // time since flip began
|
|
int8_t roll_dir; // roll direction (-1 = roll left, 1 = roll right)
|
|
int8_t pitch_dir; // pitch direction (-1 = pitch forward, 1 = pitch back)
|
|
};
|
|
|
|
|
|
#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);
|
|
Number mode_number() const override { return Number::FLOWHOLD; }
|
|
|
|
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(AP_Arming::Method method) const override { return true; };
|
|
bool is_autopilot() const override { return false; }
|
|
bool has_user_takeoff(bool must_navigate) const override {
|
|
return !must_navigate;
|
|
}
|
|
bool allows_flip() const override { return true; }
|
|
|
|
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 = 0.1f;
|
|
|
|
// maximum scaling height
|
|
const float height_max = 3.0f;
|
|
|
|
AP_Float flow_max;
|
|
AC_PI_2D flow_pi_xy{0.2f, 0.3f, 3000, 5, 0.0025f};
|
|
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 Mode::Mode;
|
|
Number mode_number() const override { return Number::GUIDED; }
|
|
|
|
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(AP_Arming::Method method) const override;
|
|
bool is_autopilot() const override { return true; }
|
|
bool has_user_takeoff(bool must_navigate) const override { return true; }
|
|
bool in_guided_mode() const override { return true; }
|
|
|
|
bool requires_terrain_failsafe() const override { return true; }
|
|
|
|
void set_angle(const Quaternion &q, float climb_rate_cms_or_thrust, bool use_yaw_rate, float yaw_rate_rads, bool use_thrust);
|
|
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 terrain_alt = false);
|
|
bool set_destination(const Location& 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 &loc) override;
|
|
void set_accel(const Vector3f& acceleration, 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);
|
|
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);
|
|
void set_velaccel(const Vector3f& velocity, const Vector3f& acceleration, 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);
|
|
bool set_destination_posvelaccel(const Vector3f& destination, const Vector3f& velocity, const Vector3f& acceleration, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false);
|
|
|
|
// get position, velocity and acceleration targets
|
|
const Vector3p& get_target_pos() const;
|
|
const Vector3f& get_target_vel() const;
|
|
const Vector3f& get_target_accel() const;
|
|
|
|
// returns true if GUIDED_OPTIONS param suggests SET_ATTITUDE_TARGET's "thrust" field should be interpreted as thrust instead of climb rate
|
|
bool set_attitude_target_provides_thrust() const;
|
|
bool stabilizing_pos_xy() const;
|
|
bool stabilizing_vel_xy() const;
|
|
|
|
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 is_taking_off() const override;
|
|
|
|
bool do_user_takeoff_start(float takeoff_alt_cm) override;
|
|
|
|
enum class SubMode {
|
|
TakeOff,
|
|
WP,
|
|
PosVelAccel,
|
|
VelAccel,
|
|
Accel,
|
|
Angle,
|
|
};
|
|
|
|
SubMode submode() const { return guided_mode; }
|
|
|
|
void angle_control_start();
|
|
void angle_control_run();
|
|
|
|
// return guided mode timeout in milliseconds. Only used for velocity, acceleration and angle control
|
|
uint32_t get_timeout_ms() const;
|
|
|
|
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:
|
|
|
|
// enum for GUID_OPTIONS parameter
|
|
enum class Options : int32_t {
|
|
AllowArmingFromTX = (1U << 0),
|
|
// this bit is still available, pilot yaw was mapped to bit 2 for symmetry with auto
|
|
IgnorePilotYaw = (1U << 2),
|
|
SetAttitudeTarget_ThrustAsThrust = (1U << 3),
|
|
DoNotStabilizePositionXY = (1U << 4),
|
|
DoNotStabilizeVelocityXY = (1U << 5),
|
|
};
|
|
|
|
void pva_control_start();
|
|
void pos_control_start();
|
|
void accel_control_start();
|
|
void velaccel_control_start();
|
|
void posvelaccel_control_start();
|
|
void takeoff_run();
|
|
void pos_control_run();
|
|
void accel_control_run();
|
|
void velaccel_control_run();
|
|
void posvelaccel_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);
|
|
bool use_pilot_yaw(void) const;
|
|
|
|
// controls which controller is run (pos or vel):
|
|
SubMode guided_mode = SubMode::TakeOff;
|
|
bool send_notification; // used to send one time notification to ground station
|
|
|
|
};
|
|
|
|
|
|
class ModeGuidedNoGPS : public ModeGuided {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using ModeGuided::Mode;
|
|
Number mode_number() const override { return Number::GUIDED_NOGPS; }
|
|
|
|
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 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 Mode::Mode;
|
|
Number mode_number() const override { return Number::LAND; }
|
|
|
|
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(AP_Arming::Method method) const override { return false; };
|
|
bool is_autopilot() const override { return true; }
|
|
|
|
bool is_landing() const override { return true; };
|
|
|
|
void do_not_use_GPS();
|
|
|
|
// returns true if LAND mode is trying to control X/Y position
|
|
bool controlling_position() const { return control_position; }
|
|
|
|
void set_land_pause(bool new_value) { land_pause = new_value; }
|
|
|
|
protected:
|
|
|
|
const char *name() const override { return "LAND"; }
|
|
const char *name4() const override { return "LAND"; }
|
|
|
|
private:
|
|
|
|
void gps_run();
|
|
void nogps_run();
|
|
|
|
bool control_position; // true if we are using an external reference to control position
|
|
|
|
uint32_t land_start_time;
|
|
bool land_pause;
|
|
};
|
|
|
|
|
|
class ModeLoiter : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Mode::Mode;
|
|
Number mode_number() const override { return Number::LOITER; }
|
|
|
|
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(AP_Arming::Method method) const override { return true; };
|
|
bool is_autopilot() const override { return false; }
|
|
bool has_user_takeoff(bool must_navigate) const override { return true; }
|
|
bool allows_autotune() 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;
|
|
float crosstrack_error() const override { return pos_control->crosstrack_error();}
|
|
|
|
#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 Mode::Mode;
|
|
Number mode_number() const override { return Number::POSHOLD; }
|
|
|
|
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(AP_Arming::Method method) const override { return true; };
|
|
bool is_autopilot() const override { return false; }
|
|
bool has_user_takeoff(bool must_navigate) const override { return true; }
|
|
bool allows_autotune() const override { return true; }
|
|
|
|
protected:
|
|
|
|
const char *name() const override { return "POSHOLD"; }
|
|
const char *name4() const override { return "PHLD"; }
|
|
|
|
private:
|
|
|
|
void update_pilot_lean_angle(float &lean_angle_filtered, float &lean_angle_raw);
|
|
float mix_controls(float mix_ratio, float first_control, float second_control);
|
|
void update_brake_angle_from_velocity(float &brake_angle, float velocity);
|
|
void init_wind_comp_estimate();
|
|
void update_wind_comp_estimate();
|
|
void get_wind_comp_lean_angles(float &roll_angle, float &pitch_angle);
|
|
void roll_controller_to_pilot_override();
|
|
void pitch_controller_to_pilot_override();
|
|
|
|
enum class RPMode {
|
|
PILOT_OVERRIDE=0, // pilot is controlling this axis (i.e. roll or pitch)
|
|
BRAKE, // this axis is braking towards zero
|
|
BRAKE_READY_TO_LOITER, // this axis has completed braking and is ready to enter loiter mode (both modes must be this value before moving to next stage)
|
|
BRAKE_TO_LOITER, // both vehicle's axis (roll and pitch) are transitioning from braking to loiter mode (braking and loiter controls are mixed)
|
|
LOITER, // both vehicle axis are holding position
|
|
CONTROLLER_TO_PILOT_OVERRIDE // pilot has input controls on this axis and this axis is transitioning to pilot override (other axis will transition to brake if no pilot input)
|
|
};
|
|
|
|
RPMode roll_mode;
|
|
RPMode pitch_mode;
|
|
|
|
// pilot input related variables
|
|
float pilot_roll; // pilot requested roll angle (filtered to slow returns to zero)
|
|
float pilot_pitch; // pilot requested roll angle (filtered to slow returns to zero)
|
|
|
|
// braking related variables
|
|
struct {
|
|
uint8_t time_updated_roll : 1; // true once we have re-estimated the braking time. This is done once as the vehicle begins to flatten out after braking
|
|
uint8_t time_updated_pitch : 1; // true once we have re-estimated the braking time. This is done once as the vehicle begins to flatten out after braking
|
|
|
|
float gain; // gain used during conversion of vehicle's velocity to lean angle during braking (calculated from rate)
|
|
float roll; // target roll angle during braking periods
|
|
float pitch; // target pitch angle during braking periods
|
|
int16_t timeout_roll; // number of cycles allowed for the braking to complete, this timeout will be updated at half-braking
|
|
int16_t timeout_pitch; // number of cycles allowed for the braking to complete, this timeout will be updated at half-braking
|
|
float angle_max_roll; // maximum lean angle achieved during braking. Used to determine when the vehicle has begun to flatten out so that we can re-estimate the braking time
|
|
float angle_max_pitch; // maximum lean angle achieved during braking Used to determine when the vehicle has begun to flatten out so that we can re-estimate the braking time
|
|
int16_t to_loiter_timer; // cycles to mix brake and loiter controls in POSHOLD_TO_LOITER
|
|
} brake;
|
|
|
|
// loiter related variables
|
|
int16_t controller_to_pilot_timer_roll; // cycles to mix controller and pilot controls in POSHOLD_CONTROLLER_TO_PILOT
|
|
int16_t controller_to_pilot_timer_pitch; // cycles to mix controller and pilot controls in POSHOLD_CONTROLLER_TO_PILOT
|
|
float controller_final_roll; // final roll angle from controller as we exit brake or loiter mode (used for mixing with pilot input)
|
|
float controller_final_pitch; // final pitch angle from controller as we exit brake or loiter mode (used for mixing with pilot input)
|
|
|
|
// wind compensation related variables
|
|
Vector2f wind_comp_ef; // wind compensation in earth frame, filtered lean angles from position controller
|
|
float wind_comp_roll; // roll angle to compensate for wind
|
|
float wind_comp_pitch; // pitch angle to compensate for wind
|
|
uint16_t wind_comp_start_timer; // counter to delay start of wind compensation for a short time after loiter is engaged
|
|
int8_t wind_comp_timer; // counter to reduce wind comp roll/pitch lean angle calcs to 10hz
|
|
|
|
// final output
|
|
float roll; // final roll angle sent to attitude controller
|
|
float pitch; // final pitch angle sent to attitude controller
|
|
|
|
};
|
|
|
|
|
|
class ModeRTL : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Mode::Mode;
|
|
Number mode_number() const override { return Number::RTL; }
|
|
|
|
bool init(bool ignore_checks) override;
|
|
void run() override {
|
|
return run(true);
|
|
}
|
|
void run(bool disarm_on_land);
|
|
|
|
bool requires_GPS() const override { return true; }
|
|
bool has_manual_throttle() const override { return false; }
|
|
bool allows_arming(AP_Arming::Method method) const override { return false; };
|
|
bool is_autopilot() const override { return true; }
|
|
|
|
bool requires_terrain_failsafe() const override { return true; }
|
|
|
|
// for reporting to GCS
|
|
bool get_wp(Location &loc) override;
|
|
|
|
// RTL states
|
|
enum class SubMode : uint8_t {
|
|
STARTING,
|
|
INITIAL_CLIMB,
|
|
RETURN_HOME,
|
|
LOITER_AT_HOME,
|
|
FINAL_DESCENT,
|
|
LAND
|
|
};
|
|
SubMode state() { return _state; }
|
|
|
|
// this should probably not be exposed
|
|
bool state_complete() const { return _state_complete; }
|
|
|
|
virtual bool is_landing() const override;
|
|
|
|
void restart_without_terrain();
|
|
|
|
// enum for RTL_ALT_TYPE parameter
|
|
enum class RTLAltType {
|
|
RTL_ALTTYPE_RELATIVE = 0,
|
|
RTL_ALTTYPE_TERRAIN = 1
|
|
};
|
|
ModeRTL::RTLAltType get_alt_type() const;
|
|
|
|
protected:
|
|
|
|
const char *name() const override { return "RTL"; }
|
|
const char *name4() const override { return "RTL "; }
|
|
|
|
// for reporting to GCS
|
|
uint32_t wp_distance() const override;
|
|
int32_t wp_bearing() const override;
|
|
float crosstrack_error() const override { return wp_nav->crosstrack_error();}
|
|
|
|
void descent_start();
|
|
void descent_run();
|
|
void land_start();
|
|
void land_run(bool disarm_on_land);
|
|
|
|
void set_descent_target_alt(uint32_t alt) { rtl_path.descent_target.alt = alt; }
|
|
|
|
private:
|
|
|
|
void climb_start();
|
|
void return_start();
|
|
void climb_return_run();
|
|
void loiterathome_start();
|
|
void loiterathome_run();
|
|
void build_path();
|
|
void compute_return_target();
|
|
|
|
SubMode _state = SubMode::INITIAL_CLIMB; // records state of rtl (initial climb, returning home, etc)
|
|
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 origin_point;
|
|
Location climb_target;
|
|
Location return_target;
|
|
Location descent_target;
|
|
bool land;
|
|
} rtl_path;
|
|
|
|
// return target alt type
|
|
enum class ReturnTargetAltType {
|
|
RELATIVE = 0,
|
|
RANGEFINDER = 1,
|
|
TERRAINDATABASE = 2
|
|
};
|
|
|
|
// Loiter timer - Records how long we have been in loiter
|
|
uint32_t _loiter_start_time;
|
|
|
|
bool terrain_following_allowed;
|
|
|
|
// enum for RTL_OPTIONS parameter
|
|
enum class Options : int32_t {
|
|
// First pair of bits are still available, pilot yaw was mapped to bit 2 for symmetry with auto
|
|
IgnorePilotYaw = (1U << 2),
|
|
};
|
|
|
|
bool use_pilot_yaw(void) const;
|
|
|
|
};
|
|
|
|
|
|
class ModeSmartRTL : public ModeRTL {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using ModeRTL::Mode;
|
|
Number mode_number() const override { return Number::SMART_RTL; }
|
|
|
|
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(AP_Arming::Method method) const override { return false; }
|
|
bool is_autopilot() const override { return true; }
|
|
|
|
void save_position();
|
|
void exit() override;
|
|
|
|
bool is_landing() const override;
|
|
|
|
// Safe RTL states
|
|
enum class SubMode : uint8_t {
|
|
WAIT_FOR_PATH_CLEANUP,
|
|
PATH_FOLLOW,
|
|
PRELAND_POSITION,
|
|
DESCEND,
|
|
LAND
|
|
};
|
|
|
|
protected:
|
|
|
|
const char *name() const override { return "SMARTRTL"; }
|
|
const char *name4() const override { return "SRTL"; }
|
|
|
|
// for reporting to GCS
|
|
bool get_wp(Location &loc) override;
|
|
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();
|
|
SubMode smart_rtl_state = SubMode::PATH_FOLLOW;
|
|
|
|
// keep track of how long we have failed to get another return
|
|
// point while following our path home. If we take too long we
|
|
// may choose to land the vehicle.
|
|
uint32_t path_follow_last_pop_fail_ms;
|
|
};
|
|
|
|
|
|
class ModeSport : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Mode::Mode;
|
|
Number mode_number() const override { return Number::SPORT; }
|
|
|
|
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(AP_Arming::Method method) 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 Mode::Mode;
|
|
Number mode_number() const override { return Number::STABILIZE; }
|
|
|
|
virtual void run() override;
|
|
|
|
bool requires_GPS() const override { return false; }
|
|
bool has_manual_throttle() const override { return true; }
|
|
bool allows_arming(AP_Arming::Method method) const override { return true; };
|
|
bool is_autopilot() const override { return false; }
|
|
bool allows_save_trim() const override { return true; }
|
|
bool allows_autotune() const override { return true; }
|
|
bool allows_flip() const override { return true; }
|
|
|
|
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 ModeStabilize::Mode;
|
|
|
|
bool init(bool ignore_checks) override;
|
|
void run() override;
|
|
|
|
protected:
|
|
|
|
private:
|
|
|
|
};
|
|
#endif
|
|
|
|
class ModeSystemId : public Mode {
|
|
|
|
public:
|
|
ModeSystemId(void);
|
|
Number mode_number() const override { return Number::SYSTEMID; }
|
|
|
|
bool init(bool ignore_checks) override;
|
|
void run() override;
|
|
|
|
bool requires_GPS() const override { return false; }
|
|
bool has_manual_throttle() const override { return true; }
|
|
bool allows_arming(AP_Arming::Method method) const override { return false; };
|
|
bool is_autopilot() const override { return false; }
|
|
bool logs_attitude() const override { return true; }
|
|
|
|
void set_magnitude(float input) { waveform_magnitude = input; }
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
protected:
|
|
|
|
const char *name() const override { return "SYSTEMID"; }
|
|
const char *name4() const override { return "SYSI"; }
|
|
|
|
private:
|
|
|
|
void log_data() const;
|
|
float waveform(float time);
|
|
|
|
enum class AxisType {
|
|
NONE = 0, // none
|
|
INPUT_ROLL = 1, // angle input roll axis is being excited
|
|
INPUT_PITCH = 2, // angle pitch axis is being excited
|
|
INPUT_YAW = 3, // angle yaw axis is being excited
|
|
RECOVER_ROLL = 4, // angle roll axis is being excited
|
|
RECOVER_PITCH = 5, // angle pitch axis is being excited
|
|
RECOVER_YAW = 6, // angle yaw axis is being excited
|
|
RATE_ROLL = 7, // rate roll axis is being excited
|
|
RATE_PITCH = 8, // rate pitch axis is being excited
|
|
RATE_YAW = 9, // rate yaw axis is being excited
|
|
MIX_ROLL = 10, // mixer roll axis is being excited
|
|
MIX_PITCH = 11, // mixer pitch axis is being excited
|
|
MIX_YAW = 12, // mixer pitch axis is being excited
|
|
MIX_THROTTLE = 13, // mixer throttle axis is being excited
|
|
};
|
|
|
|
AP_Int8 axis; // Controls which axis are being excited. Set to non-zero to display other parameters
|
|
AP_Float waveform_magnitude;// Magnitude of chirp waveform
|
|
AP_Float frequency_start; // Frequency at the start of the chirp
|
|
AP_Float frequency_stop; // Frequency at the end of the chirp
|
|
AP_Float time_fade_in; // Time to reach maximum amplitude of chirp
|
|
AP_Float time_record; // Time taken to complete the chirp waveform
|
|
AP_Float time_fade_out; // Time to reach zero amplitude after chirp finishes
|
|
|
|
bool att_bf_feedforward; // Setting of attitude_control->get_bf_feedforward
|
|
float waveform_time; // Time reference for waveform
|
|
float waveform_sample; // Current waveform sample
|
|
float waveform_freq_rads; // Instantaneous waveform frequency
|
|
float time_const_freq; // Time at constant frequency before chirp starts
|
|
int8_t log_subsample; // Subsample multiple for logging.
|
|
|
|
// System ID states
|
|
enum class SystemIDModeState {
|
|
SYSTEMID_STATE_STOPPED,
|
|
SYSTEMID_STATE_TESTING
|
|
} systemid_state;
|
|
};
|
|
|
|
class ModeThrow : public Mode {
|
|
|
|
public:
|
|
// inherit constructor
|
|
using Mode::Mode;
|
|
Number mode_number() const override { return Number::THROW; }
|
|
|
|
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(AP_Arming::Method method) const override { return true; };
|
|
bool is_autopilot() const override { return false; }
|
|
|
|
// Throw types
|
|
enum class ThrowType {
|
|
Upward = 0,
|
|
Drop = 1
|
|
};
|
|
|
|
enum class PreThrowMotorState {
|
|
STOPPED = 0,
|
|
RUNNING = 1,
|
|
};
|
|
|
|
protected:
|
|
|
|
const char *name() const override { return "THROW"; }
|
|
const char *name4() const override { return "THRW"; }
|
|
|
|
private:
|
|
|
|
bool throw_detected();
|
|
bool throw_position_good() const;
|
|
bool throw_height_good() const;
|
|
bool throw_attitude_good() const;
|
|
|
|
// Throw stages
|
|
enum ThrowModeStage {
|
|
Throw_Disarmed,
|
|
Throw_Detecting,
|
|
Throw_Wait_Throttle_Unlimited,
|
|
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 ModeGuided::Mode;
|
|
Number mode_number() const override { return Number::AVOID_ADSB; }
|
|
|
|
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(AP_Arming::Method method) 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 ModeGuided::Mode;
|
|
Number mode_number() const override { return Number::FOLLOW; }
|
|
|
|
bool init(bool ignore_checks) override;
|
|
void exit() override;
|
|
void run() override;
|
|
|
|
bool requires_GPS() const override { return true; }
|
|
bool has_manual_throttle() const override { return false; }
|
|
bool allows_arming(AP_Arming::Method method) 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"; }
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// for reporting to GCS
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bool get_wp(Location &loc) override;
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|
uint32_t wp_distance() const override;
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int32_t wp_bearing() const override;
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|
|
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uint32_t last_log_ms; // system time of last time desired velocity was logging
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};
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|
|
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class ModeZigZag : public Mode {
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public:
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ModeZigZag(void);
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// Inherit constructor
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using Mode::Mode;
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Number mode_number() const override { return Number::ZIGZAG; }
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|
|
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enum class Destination : uint8_t {
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A, // Destination A
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B, // Destination B
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};
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|
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enum class Direction : uint8_t {
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FORWARD, // moving forward from the yaw direction
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RIGHT, // moving right from the yaw direction
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BACKWARD, // moving backward from the yaw direction
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|
LEFT, // moving left from the yaw direction
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} zigzag_direction;
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|
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bool init(bool ignore_checks) override;
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void exit() override;
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void run() override;
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|
|
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// auto control methods. copter flies grid pattern
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void run_auto();
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|
void suspend_auto();
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|
void init_auto();
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|
|
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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(AP_Arming::Method method) const override { return true; }
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|
bool is_autopilot() const override { return true; }
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|
|
|
// save current position as A or B. If both A and B have been saved move to the one specified
|
|
void save_or_move_to_destination(Destination ab_dest);
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|
|
|
// return manual control to the pilot
|
|
void return_to_manual_control(bool maintain_target);
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|
|
|
static const struct AP_Param::GroupInfo var_info[];
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|
|
|
protected:
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|
|
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const char *name() const override { return "ZIGZAG"; }
|
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const char *name4() const override { return "ZIGZ"; }
|
|
|
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private:
|
|
|
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void auto_control();
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void manual_control();
|
|
bool reached_destination();
|
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bool calculate_next_dest(Destination ab_dest, bool use_wpnav_alt, Vector3f& next_dest, bool& terrain_alt) const;
|
|
void spray(bool b);
|
|
bool calculate_side_dest(Vector3f& next_dest, bool& terrain_alt) const;
|
|
void move_to_side();
|
|
|
|
Vector2f dest_A; // in NEU frame in cm relative to ekf origin
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|
Vector2f dest_B; // in NEU frame in cm relative to ekf origin
|
|
Vector3f current_dest; // current target destination (use for resume after suspending)
|
|
bool current_terr_alt;
|
|
|
|
// parameters
|
|
AP_Int8 _auto_enabled; // top level enable/disable control
|
|
#if SPRAYER_ENABLED == ENABLED
|
|
AP_Int8 _spray_enabled; // auto spray enable/disable
|
|
#endif
|
|
AP_Int8 _wp_delay; // delay for zigzag waypoint
|
|
AP_Float _side_dist; // sideways distance
|
|
AP_Int8 _direction; // sideways direction
|
|
AP_Int16 _line_num; // total number of lines
|
|
|
|
enum ZigZagState {
|
|
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;
|
|
|
|
enum AutoState {
|
|
MANUAL, // not in ZigZag Auto
|
|
AB_MOVING, // moving from A to B or from B to A
|
|
SIDEWAYS, // moving to sideways
|
|
} auto_stage;
|
|
|
|
uint32_t reach_wp_time_ms = 0; // time since vehicle reached destination (or zero if not yet reached)
|
|
Destination ab_dest_stored; // store the current destination
|
|
bool is_auto; // enable zigzag auto feature which is automate both AB and sideways
|
|
uint16_t line_count = 0; // current line number
|
|
int16_t line_num = 0; // target line number
|
|
bool is_suspended; // true if zigzag auto is suspended
|
|
};
|
|
|
|
#if MODE_AUTOROTATE_ENABLED == ENABLED
|
|
class ModeAutorotate : public Mode {
|
|
|
|
public:
|
|
|
|
// inherit constructor
|
|
using Mode::Mode;
|
|
Number mode_number() const override { return Number::AUTOROTATE; }
|
|
|
|
bool init(bool ignore_checks) override;
|
|
void run() override;
|
|
|
|
bool is_autopilot() const override { return true; }
|
|
bool requires_GPS() const override { return false; }
|
|
bool has_manual_throttle() const override { return false; }
|
|
bool allows_arming(AP_Arming::Method method) const override { return false; };
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
protected:
|
|
|
|
const char *name() const override { return "AUTOROTATE"; }
|
|
const char *name4() const override { return "AROT"; }
|
|
|
|
private:
|
|
|
|
// --- Internal variables ---
|
|
float _initial_rpm; // Head speed recorded at initiation of flight mode (RPM)
|
|
float _target_head_speed; // The terget head main rotor head speed. Normalised by main rotor set point
|
|
float _desired_v_z; // Desired vertical
|
|
int32_t _pitch_target; // Target pitch attitude to pass to attitude controller
|
|
uint32_t _entry_time_start_ms; // Time remaining until entry phase moves on to glide phase
|
|
float _hs_decay; // The head accerleration during the entry phase
|
|
float _bail_time; // Timer for exiting the bail out phase (s)
|
|
uint32_t _bail_time_start_ms; // Time at start of bail out
|
|
float _target_climb_rate_adjust;// Target vertical acceleration used during bail out phase
|
|
float _target_pitch_adjust; // Target pitch rate used during bail out phase
|
|
|
|
enum class Autorotation_Phase {
|
|
ENTRY,
|
|
SS_GLIDE,
|
|
FLARE,
|
|
TOUCH_DOWN,
|
|
BAIL_OUT } phase_switch;
|
|
|
|
enum class Navigation_Decision {
|
|
USER_CONTROL_STABILISED,
|
|
STRAIGHT_AHEAD,
|
|
INTO_WIND,
|
|
NEAREST_RALLY} nav_pos_switch;
|
|
|
|
// --- Internal flags ---
|
|
struct controller_flags {
|
|
bool entry_initial : 1;
|
|
bool ss_glide_initial : 1;
|
|
bool flare_initial : 1;
|
|
bool touch_down_initial : 1;
|
|
bool straight_ahead_initial : 1;
|
|
bool level_initial : 1;
|
|
bool break_initial : 1;
|
|
bool bail_out_initial : 1;
|
|
bool bad_rpm : 1;
|
|
} _flags;
|
|
|
|
struct message_flags {
|
|
bool bad_rpm : 1;
|
|
} _msg_flags;
|
|
|
|
//--- Internal functions ---
|
|
void warning_message(uint8_t message_n); //Handles output messages to the terminal
|
|
|
|
};
|
|
#endif
|