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Copter: guided implementations moved to match declarations

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this should be a non-functional change
This commit is contained in:
Randy Mackay 2020-10-14 14:30:01 +09:00
parent 5adf1d9596
commit 29fedff826
1 changed files with 44 additions and 45 deletions
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89
ArduCopter/mode_guided.cpp
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@ -47,6 +47,50 @@ bool ModeGuided::init(bool ignore_checks)
return true;
}
// guided_run - runs the guided controller
// should be called at 100hz or more
void ModeGuided::run()
{
// call the correct auto controller
switch (guided_mode) {
case Guided_TakeOff:
// run takeoff controller
takeoff_run();
break;
case Guided_WP:
// run position controller
pos_control_run();
break;
case Guided_Velocity:
// run velocity controller
vel_control_run();
break;
case Guided_PosVel:
// run position-velocity controller
posvel_control_run();
break;
case Guided_Angle:
// run angle controller
angle_control_run();
break;
}
}
bool ModeGuided::allows_arming(bool from_gcs) const
{
// always allow arming from the ground station
if (from_gcs) {
return true;
}
// optionally allow arming from the transmitter
return (copter.g2.guided_options & (int32_t)Options::AllowArmingFromTX) != 0;
};
// do_user_takeoff_start - initialises waypoint controller to implement take-off
bool ModeGuided::do_user_takeoff_start(float takeoff_alt_cm)
@ -345,51 +389,6 @@ void ModeGuided::set_angle(const Quaternion &q, float climb_rate_cms_or_thrust,
Vector3f(0.0f, 0.0f, climb_rate_cms_or_thrust));
}
// guided_run - runs the guided controller
// should be called at 100hz or more
void ModeGuided::run()
{
// call the correct auto controller
switch (guided_mode) {
case Guided_TakeOff:
// run takeoff controller
takeoff_run();
break;
case Guided_WP:
// run position controller
pos_control_run();
break;
case Guided_Velocity:
// run velocity controller
vel_control_run();
break;
case Guided_PosVel:
// run position-velocity controller
posvel_control_run();
break;
case Guided_Angle:
// run angle controller
angle_control_run();
break;
}
}
bool ModeGuided::allows_arming(bool from_gcs) const
{
// always allow arming from the ground station
if (from_gcs) {
return true;
}
// optionally allow arming from the transmitter
return (copter.g2.guided_options & (int32_t)Options::AllowArmingFromTX) != 0;
};
// guided_takeoff_run - takeoff in guided mode
// called by guided_run at 100hz or more
void ModeGuided::takeoff_run()