Sub: rename modes loiter->velhold, sport->transect

ArduSub/GCS_Mavlink.cpp

@@ -49,11 +49,12 @@ NOINLINE void Sub::send_heartbeat(mavlink_channel_t chan)
     switch (control_mode) {
     case AUTO:
     case RTL:
-    case LOITER:
+    case VELHOLD:
     case GUIDED:
     case CIRCLE:
     case POSHOLD:
     case BRAKE:
+    case TRANSECT:
         base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
         // note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
         // APM does in any mode, as that is defined as "system finds its own goal
@@ -167,19 +168,17 @@ NOINLINE void Sub::send_extended_status1(mavlink_channel_t chan)
     case ALT_HOLD:
     case AUTO:
     case GUIDED:
-    case LOITER:
+    case VELHOLD:
     case RTL:
     case CIRCLE:
     case SURFACE:
     case OF_LOITER:
     case POSHOLD:
     case BRAKE:
+    case TRANSECT:
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
         break;
-    case SPORT:
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
-        break;
     default:
     	break;
     }
@@ -1267,7 +1266,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
 
         case MAV_CMD_NAV_LOITER_UNLIM:
-            if (sub.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {
+            if (sub.set_mode(POSHOLD, MODE_REASON_GCS_COMMAND)) {
                 result = MAV_RESULT_ACCEPTED;
             }
             break;
@@ -1638,78 +1637,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
         }
 
-        /* Solo user presses Fly button */
-		case MAV_CMD_SOLO_BTN_FLY_CLICK: {
-			result = MAV_RESULT_ACCEPTED;
-
-			if (sub.failsafe.radio) {
-				break;
-			}
-
-			// set mode to Loiter or fall back to AltHold
-			if (!sub.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {
-				sub.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND);
-			}
-			break;
-		}
-
-// Not supported in Sub
-
-//		/* Solo user holds down Fly button for a couple of seconds */
-//		case MAV_CMD_SOLO_BTN_FLY_HOLD: {
-//			result = MAV_RESULT_ACCEPTED;
-//
-//			if (sub.failsafe.radio) {
-//				break;
-//			}
-//
-//			if (!sub.motors.armed()) {
-//				// if disarmed, arm motors
-//				sub.init_arm_motors(true);
-//			} else if (sub.ap.land_complete) {
-//				// if armed and landed, takeoff
-//				if (sub.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {
-//					sub.do_user_takeoff(packet.param1*100, true);
-//				}
-//			} else {
-//				// if flying, land
-//				sub.set_mode(LAND, MODE_REASON_GCS_COMMAND);
-//			}
-//			break;
-//		}
-
-		/* Solo user presses pause button */
-		case MAV_CMD_SOLO_BTN_PAUSE_CLICK: {
-			result = MAV_RESULT_ACCEPTED;
-
-			if (sub.failsafe.radio) {
-				break;
-			}
-
-			if (sub.motors.armed()) {
-				if (sub.ap.land_complete) {
-					// if landed, disarm motors
-					sub.init_disarm_motors();
-				} else {
-					// assume that shots modes are all done in guided.
-					// NOTE: this may need to change if we add a non-guided shot mode
-					bool shot_mode = (!is_zero(packet.param1) && sub.control_mode == GUIDED);
-
-					if (!shot_mode) {
-						if (sub.set_mode(BRAKE, MODE_REASON_GCS_COMMAND)) {
-							sub.brake_timeout_to_loiter_ms(2500);
-						} else {
-							sub.set_mode(ALT_HOLD, MODE_REASON_GCS_COMMAND);
-						}
-					} else {
-						// SoloLink is expected to handle pause in shots
-					}
-				}
-			}
-			break;
-		}
-
-
         default:
             result = MAV_RESULT_UNSUPPORTED;
             break;

ArduSub/Sub.h

@@ -792,8 +792,8 @@ private:
     void guided_limit_init_time_and_pos();
     bool guided_limit_check();
     float get_land_descent_speed();
-    bool loiter_init(bool ignore_checks);
+    bool velhold_init(bool ignore_checks);
-    void loiter_run();
+    void velhold_run();
     bool poshold_init(bool ignore_checks);
     void poshold_run();
     void poshold_update_pilot_lean_angle(float &lean_angle_filtered, float &lean_angle_raw);
@@ -826,8 +826,8 @@ private:
     void rtl_land_run();
     void rtl_build_path(bool terrain_following_allowed);
     void rtl_compute_return_alt(const Location_Class &rtl_origin_point, Location_Class &rtl_return_target, bool terrain_following_allowed);
-    bool sport_init(bool ignore_checks);
+    bool transect_init(bool ignore_checks);
-    void sport_run();
+    void transect_run();
     bool stabilize_init(bool ignore_checks);
     void stabilize_run();
     bool manual_init(bool ignore_checks);

ArduSub/control_brake.cpp

@@ -74,7 +74,7 @@ void Sub::brake_run()
     pos_control.update_z_controller();
 
     if (brake_timeout_ms != 0 && millis()-brake_timeout_start >= brake_timeout_ms) {
-        if (!set_mode(LOITER, MODE_REASON_BRAKE_TIMEOUT)) {
+        if (!set_mode(POSHOLD, MODE_REASON_BRAKE_TIMEOUT)) {
             set_mode(ALT_HOLD, MODE_REASON_BRAKE_TIMEOUT);
         }
     }

ArduSub/control_rtl.cpp

@@ -287,7 +287,7 @@ void Sub::rtl_descent_run()
         if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
             Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
             // exit land if throttle is high
-            if (!set_mode(LOITER, MODE_REASON_THROTTLE_LAND_ESCAPE)) {
+            if (!set_mode(POSHOLD, MODE_REASON_THROTTLE_LAND_ESCAPE)) {
                 set_mode(ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE);
             }
         }

ArduSub/defines.h

@@ -102,13 +102,13 @@ enum control_mode_t {
     ALT_HOLD =      2,  // manual airframe angle with automatic throttle
     AUTO =          3,  // fully automatic waypoint control using mission commands
     GUIDED =        4,  // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
-    LOITER =        5,  // automatic horizontal acceleration with automatic throttle
+    VELHOLD =       5,  // automatic horizontal acceleration with automatic throttle
     RTL =           6,  // automatic return to launching point
     CIRCLE =        7,  // automatic circular flight with automatic throttle
     SURFACE =       9,  // automatic landing with horizontal position control
     OF_LOITER =    10,  // deprecated
     DRIFT =        11,  // semi-automous position, yaw and throttle control
-    SPORT =        13,  // manual earth-frame angular rate control with manual throttle
+    TRANSECT =     13,  // manual earth-frame angular rate control with manual throttle
     FLIP =         14,  // automatically flip the vehicle on the roll axis
     AUTOTUNE =     15,  // automatically tune the vehicle's roll and pitch gains
     POSHOLD =      16,  // automatic position hold with manual override, with automatic throttle

ArduSub/flight_mode.cpp

@@ -47,8 +47,8 @@ bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
             success = circle_init(ignore_checks);
             break;
 
-        case LOITER:
+        case VELHOLD:
-            success = loiter_init(ignore_checks);
+            success = velhold_init(ignore_checks);
             break;
 
         case GUIDED:
@@ -67,8 +67,8 @@ bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
             success = drift_init(ignore_checks);
             break;
 
-        case SPORT:
+        case TRANSECT:
-            success = sport_init(ignore_checks);
+            success = transect_init(ignore_checks);
             break;
 
         case FLIP:
@@ -164,8 +164,8 @@ void Sub::update_flight_mode()
             circle_run();
             break;
 
-        case LOITER:
+        case VELHOLD:
-            loiter_run();
+            velhold_run();
             break;
 
         case GUIDED:
@@ -184,8 +184,8 @@ void Sub::update_flight_mode()
             drift_run();
             break;
 
-        case SPORT:
+        case TRANSECT:
-            sport_run();
+            transect_run();
             break;
 
         case FLIP:
@@ -259,13 +259,14 @@ bool Sub::mode_requires_GPS(control_mode_t mode) {
     switch(mode) {
         case AUTO:
         case GUIDED:
-        case LOITER:
+        case VELHOLD:
         case RTL:
         case CIRCLE:
         case DRIFT:
         case POSHOLD:
         case BRAKE:
         case THROW:
+        case TRANSECT:
             return true;
         default:
             return false;
@@ -291,7 +292,7 @@ bool Sub::mode_has_manual_throttle(control_mode_t mode) {
 // mode_allows_arming - returns true if vehicle can be armed in the specified mode
 //  arming_from_gcs should be set to true if the arming request comes from the ground station
 bool Sub::mode_allows_arming(control_mode_t mode, bool arming_from_gcs) {
-	if (mode_has_manual_throttle(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || mode == DRIFT || mode == SPORT || mode == THROW || (arming_from_gcs && mode == GUIDED)) {
+	if (mode_has_manual_throttle(mode) || mode == VELHOLD || mode == ALT_HOLD || mode == POSHOLD || mode == DRIFT || mode == TRANSECT || mode == THROW || (arming_from_gcs && mode == GUIDED)) {
         return true;
     }
     return false;
@@ -336,8 +337,8 @@ void Sub::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
     case GUIDED:
         port->print("GUIDED");
         break;
-    case LOITER:
+    case VELHOLD:
-        port->print("LOITER");
+        port->print("VELHOLD");
         break;
     case RTL:
         port->print("RTL");
@@ -354,8 +355,8 @@ void Sub::print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
     case DRIFT:
         port->print("DRIFT");
         break;
-    case SPORT:
+    case TRANSECT:
-        port->print("SPORT");
+        port->print("TRANSECT");
         break;
     case FLIP:
         port->print("FLIP");

ArduSub/navigation.cpp

@@ -26,7 +26,7 @@ void Sub::calc_distance_and_bearing()
 void Sub::calc_wp_distance()
 {
     // get target from loiter or wpinav controller
-    if (control_mode == LOITER || control_mode == CIRCLE) {
+    if (control_mode == CIRCLE) {
         wp_distance = wp_nav.get_loiter_distance_to_target();
     }else if (control_mode == AUTO || control_mode == RTL || (control_mode == GUIDED && guided_mode == Guided_WP)) {
         wp_distance = wp_nav.get_wp_distance_to_destination();
@@ -39,7 +39,7 @@ void Sub::calc_wp_distance()
 void Sub::calc_wp_bearing()
 {
     // get target from loiter or wpinav controller
-    if (control_mode == LOITER || control_mode == CIRCLE) {
+    if (control_mode == CIRCLE) {
         wp_bearing = wp_nav.get_loiter_bearing_to_target();
     } else if (control_mode == AUTO || control_mode == RTL || (control_mode == GUIDED && guided_mode == Guided_WP)) {
         wp_bearing = wp_nav.get_wp_bearing_to_destination();

ArduSub/takeoff.cpp

@@ -11,43 +11,13 @@
 //  must_nagivate is true if mode must also control horizontal position
 bool Sub::current_mode_has_user_takeoff(bool must_navigate)
 {
-    switch (control_mode) {
+	return false; // not supported  in Sub
-        case GUIDED:
-        case LOITER:
-        case POSHOLD:
-            return true;
-        case ALT_HOLD:
-        case SPORT:
-            return !must_navigate;
-        default:
-            return false;
-    }
 }
 
 // initiate user takeoff - called when MAVLink TAKEOFF command is received
 bool Sub::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
 {
-    if (motors.armed() && ap.land_complete && current_mode_has_user_takeoff(must_navigate) && takeoff_alt_cm > current_loc.alt) {
+    return false; // not supported in Sub
-
-        switch(control_mode) {
-            case GUIDED:
-            	if (guided_takeoff_start(takeoff_alt_cm)) {
-                    set_auto_armed(true);
-                    return true;
-                }
-                return false;
-            case LOITER:
-            case POSHOLD:
-            case ALT_HOLD:
-            case SPORT:
-                set_auto_armed(true);
-                takeoff_timer_start(takeoff_alt_cm);
-                return true;
-            default:
-            	return false;
-        }
-    }
-    return false;
 }
 
 // start takeoff to specified altitude above home in centimeters