Copter: mode autoyaw lower in mode.h
make ordering of some declarations consistent across child classes
This commit is contained in:
Randy Mackay
parent
7945c1fdfd
commit
8a5141f751
@ -13,73 +13,21 @@ public:
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Mode(const Mode &other) = delete;
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Mode &operator=(const Mode&) = delete;
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virtual const char *name() const = 0;
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// returns a string for this flightmode, exactly 4 bytes
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virtual const char *name4() const = 0;
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// 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 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(bool from_gcs) 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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// Navigation Yaw control
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class AutoYaw {
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public:
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// yaw(): main product of AutoYaw; the heading:
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float yaw();
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// mode(): current method of determining desired yaw:
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autopilot_yaw_mode mode() const { return (autopilot_yaw_mode)_mode; }
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void set_mode_to_default(bool rtl);
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void set_mode(autopilot_yaw_mode new_mode);
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autopilot_yaw_mode default_mode(bool rtl) const;
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// rate_cds(): desired yaw rate in centidegrees/second:
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float rate_cds() const;
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void set_rate(float new_rate_cds);
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// set_roi(...): set a "look at" location:
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void set_roi(const Location &roi_location);
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void set_fixed_yaw(float angle_deg,
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float turn_rate_dps,
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int8_t direction,
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bool relative_angle);
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private:
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float look_ahead_yaw();
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float roi_yaw();
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// auto flight mode's yaw mode
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uint8_t _mode = AUTO_YAW_LOOK_AT_NEXT_WP;
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// Yaw will point at this location if mode is set to AUTO_YAW_ROI
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Vector3f roi;
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// bearing from current location to the ROI
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float _roi_yaw;
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// yaw used for YAW_FIXED yaw_mode
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int32_t _fixed_yaw;
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// Deg/s we should turn
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int16_t _fixed_yaw_slewrate;
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// heading when in yaw_look_ahead_yaw
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float _look_ahead_yaw;
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// turn rate (in cds) when auto_yaw_mode is set to AUTO_YAW_RATE
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float _rate_cds;
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// used to reduce update rate to 100hz:
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uint8_t roi_yaw_counter;
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};
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static AutoYaw auto_yaw;
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// 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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@ -88,12 +36,6 @@ public:
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virtual bool landing_gear_should_be_deployed() const { return false; }
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virtual bool is_landing() const { return false; }
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virtual bool has_manual_throttle() const = 0;
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virtual bool requires_GPS() const = 0;
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virtual bool allows_arming(bool from_gcs) const = 0;
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virtual bool in_guided_mode() const { return false; }
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virtual bool is_autopilot() const { return false; }
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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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@ -115,8 +57,6 @@ public:
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protected:
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virtual bool has_user_takeoff(bool must_navigate) const { return false; }
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// navigation support functions
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virtual void run_autopilot() {}
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@ -199,6 +139,65 @@ protected:
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// altitude below which we do no navigation in auto takeoff
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static float auto_takeoff_no_nav_alt_cm;
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public:
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// Navigation Yaw control
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class AutoYaw {
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public:
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// yaw(): main product of AutoYaw; the heading:
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float yaw();
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// mode(): current method of determining desired yaw:
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autopilot_yaw_mode mode() const { return (autopilot_yaw_mode)_mode; }
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void set_mode_to_default(bool rtl);
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void set_mode(autopilot_yaw_mode new_mode);
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autopilot_yaw_mode default_mode(bool rtl) const;
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// rate_cds(): desired yaw rate in centidegrees/second:
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float rate_cds() const;
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void set_rate(float new_rate_cds);
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// set_roi(...): set a "look at" location:
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void set_roi(const Location &roi_location);
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void set_fixed_yaw(float angle_deg,
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float turn_rate_dps,
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int8_t direction,
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bool relative_angle);
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private:
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float look_ahead_yaw();
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float roi_yaw();
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// auto flight mode's yaw mode
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uint8_t _mode = AUTO_YAW_LOOK_AT_NEXT_WP;
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// Yaw will point at this location if mode is set to AUTO_YAW_ROI
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Vector3f roi;
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// bearing from current location to the ROI
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float _roi_yaw;
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// yaw used for YAW_FIXED yaw_mode
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int32_t _fixed_yaw;
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// Deg/s we should turn
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int16_t _fixed_yaw_slewrate;
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// heading when in yaw_look_ahead_yaw
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float _look_ahead_yaw;
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// turn rate (in cds) when auto_yaw_mode is set to AUTO_YAW_RATE
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float _rate_cds;
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// used to reduce update rate to 100hz:
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uint8_t roi_yaw_counter;
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};
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static AutoYaw auto_yaw;
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// 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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@ -226,10 +225,10 @@ public:
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virtual void run() override;
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bool is_autopilot() const override { return false; }
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bool requires_GPS() const override { return false; }
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bool has_manual_throttle() const override { return true; }
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bool allows_arming(bool from_gcs) const override { return true; };
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bool is_autopilot() const override { return false; }
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protected:
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@ -302,10 +301,10 @@ public:
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bool init(bool ignore_checks) override;
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void run() override;
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bool is_autopilot() const override { return true; }
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bool requires_GPS() const override { return true; }
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bool has_manual_throttle() const override { return false; }
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bool allows_arming(bool from_gcs) const override { return false; };
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bool is_autopilot() const override { return true; }
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bool in_guided_mode() const override { return mode() == Auto_NavGuided; }
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// Auto
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@ -491,12 +490,13 @@ public:
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using Copter::Mode::Mode;
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bool init(bool ignore_checks) override;
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void run() override;
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bool requires_GPS() const override { return false; }
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bool has_manual_throttle() const override { return false; }
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bool allows_arming(bool from_gcs) const override { return false; }
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bool is_autopilot() const override { return false; }
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void save_tuning_gains();
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void stop();
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@ -732,8 +732,8 @@ public:
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bool has_manual_throttle() const override { return false; }
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bool allows_arming(bool from_gcs) const override { return from_gcs; }
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bool is_autopilot() const override { return true; }
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bool in_guided_mode() const override { return true; }
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bool has_user_takeoff(bool must_navigate) const override { return true; }
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bool in_guided_mode() const override { return true; }
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void set_angle(const Quaternion &q, float climb_rate_cms, bool use_yaw_rate, float yaw_rate_rads);
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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);
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@ -820,6 +820,7 @@ public:
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bool has_manual_throttle() const override { return false; }
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bool allows_arming(bool from_gcs) const override { return false; };
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bool is_autopilot() const override { return true; }
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bool is_landing() const override { return true; };
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bool landing_gear_should_be_deployed() const override { return true; };
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