Copter: add option to disable SmartRTL mode
Saves 5.5k of Flash
This commit is contained in:
Peter Barker
Randy Mackay
parent
3a61b86e65
commit
9b440d6b25
@ -25,6 +25,8 @@
|
||||
//#define WINCH_ENABLED DISABLED // disable winch support
|
||||
//#define MODE_AUTO_ENABLED DISABLED // disable auto mode support
|
||||
//#define MODE_POSHOLD_ENABLED DISABLED // disable poshold mode support
|
||||
//#define MODE_SMARTRTL_ENABLED DISABLED // disable smartrtl mode support
|
||||
|
||||
|
||||
// features below are disabled by default on all boards
|
||||
//#define CAL_ALWAYS_REBOOT // flight controller will reboot after compass or accelerometer calibration completes
|
||||
|
||||
@ -106,7 +106,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
|
||||
SCHED_TASK(update_altitude, 10, 100),
|
||||
SCHED_TASK(run_nav_updates, 50, 100),
|
||||
SCHED_TASK(update_throttle_hover,100, 90),
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
SCHED_TASK_CLASS(Copter::ModeSmartRTL, &copter.mode_smartrtl, save_position, 3, 100),
|
||||
#endif
|
||||
SCHED_TASK(three_hz_loop, 3, 75),
|
||||
SCHED_TASK(compass_accumulate, 100, 100),
|
||||
SCHED_TASK_CLASS(AP_Baro, &copter.barometer, accumulate, 50, 90),
|
||||
|
||||
@ -984,7 +984,9 @@ private:
|
||||
#endif
|
||||
ModeThrow mode_throw;
|
||||
ModeGuidedNoGPS mode_guided_nogps;
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
ModeSmartRTL mode_smartrtl;
|
||||
#endif
|
||||
#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
|
||||
ModeFlowHold mode_flowhold;
|
||||
#endif
|
||||
|
||||
@ -944,9 +944,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
|
||||
AP_SUBGROUPINFO(toy_mode, "TMODE", 20, ParametersG2, ToyMode),
|
||||
#endif
|
||||
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
// @Group: SRTL_
|
||||
// @Path: ../libraries/AP_SmartRTL/AP_SmartRTL.cpp
|
||||
AP_SUBGROUPINFO(smart_rtl, "SRTL_", 21, ParametersG2, AP_SmartRTL),
|
||||
#endif
|
||||
|
||||
#if WINCH_ENABLED == ENABLED
|
||||
// @Group: WENC
|
||||
@ -997,8 +999,9 @@ ParametersG2::ParametersG2(void)
|
||||
#if ADVANCED_FAILSAFE == ENABLED
|
||||
,afs(copter.mission, copter.barometer, copter.gps, copter.rcmap)
|
||||
#endif
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
,smart_rtl(copter.ahrs)
|
||||
,temp_calibration(copter.barometer, copter.ins)
|
||||
#endif
|
||||
#if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
|
||||
,mode_flowhold_ptr(&copter.mode_flowhold)
|
||||
#endif
|
||||
|
||||
@ -549,8 +549,10 @@ public:
|
||||
// control over servo output ranges
|
||||
SRV_Channels servo_channels;
|
||||
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
// Safe RTL library
|
||||
AP_SmartRTL smart_rtl;
|
||||
#endif
|
||||
|
||||
// wheel encoder and winch
|
||||
#if WINCH_ENABLED == ENABLED
|
||||
|
||||
@ -35,7 +35,9 @@ void Copter::set_home_to_current_location_inflight() {
|
||||
return;
|
||||
}
|
||||
// we have successfully set AHRS home, set it for SmartRTL
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
g2.smart_rtl.set_home(true);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
@ -48,7 +50,9 @@ bool Copter::set_home_to_current_location(bool lock) {
|
||||
return false;
|
||||
}
|
||||
// we have successfully set AHRS home, set it for SmartRTL
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
g2.smart_rtl.set_home(true);
|
||||
#endif
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
|
||||
@ -279,6 +279,12 @@
|
||||
# define MODE_POSHOLD_ENABLED ENABLED
|
||||
#endif
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////
|
||||
// SmartRTL - allows vehicle to retrace a (loop-eliminated) breadcrumb home
|
||||
#ifndef MODE_SMARTRTL_ENABLED
|
||||
# define MODE_SMARTRTL_ENABLED ENABLED
|
||||
#endif
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////
|
||||
// RADIO CONFIGURATION
|
||||
//////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
@ -118,9 +118,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
|
||||
ret = &mode_guided_nogps;
|
||||
break;
|
||||
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
case SMART_RTL:
|
||||
ret = &mode_smartrtl;
|
||||
break;
|
||||
#endif
|
||||
|
||||
#if OPTFLOW == ENABLED
|
||||
case FLOWHOLD:
|
||||
@ -249,10 +251,12 @@ void Copter::exit_mode(Copter::Mode *&old_flightmode,
|
||||
// cancel any takeoffs in progress
|
||||
takeoff_stop();
|
||||
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
// call smart_rtl cleanup
|
||||
if (old_flightmode == &mode_smartrtl) {
|
||||
mode_smartrtl.exit();
|
||||
}
|
||||
#endif
|
||||
|
||||
#if FRAME_CONFIG == HELI_FRAME
|
||||
// firmly reset the flybar passthrough to false when exiting acro mode.
|
||||
|
||||
@ -1,5 +1,7 @@
|
||||
#include "Copter.h"
|
||||
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
|
||||
/*
|
||||
* Init and run calls for Smart_RTL flight mode
|
||||
*
|
||||
@ -147,3 +149,5 @@ int32_t Copter::ModeSmartRTL::wp_bearing() const
|
||||
{
|
||||
return wp_nav->get_wp_bearing_to_destination();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@ -193,7 +193,9 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
|
||||
update_super_simple_bearing(false);
|
||||
|
||||
// Reset SmartRTL return location. If activated, SmartRTL will ultimately try to land at this point
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
g2.smart_rtl.set_home(position_ok());
|
||||
#endif
|
||||
|
||||
// enable gps velocity based centrefugal force compensation
|
||||
ahrs.set_correct_centrifugal(true);
|
||||
|
||||
@ -236,8 +236,10 @@ void Copter::init_ardupilot()
|
||||
mission.init();
|
||||
#endif
|
||||
|
||||
#if MODE_SMARTRTL_ENABLED == ENABLED
|
||||
// initialize SmartRTL
|
||||
g2.smart_rtl.init();
|
||||
#endif
|
||||
|
||||
// initialise DataFlash library
|
||||
#if MODE_AUTO_ENABLED == ENABLED
|
||||
|
||||
Loading…
Reference in New Issue
Block a user