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ArduPlane: change namespace of MultiCopter and FixedWing params

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this stops the libraries knowing anything about AP_Vehicle
This commit is contained in:
Peter Barker 2022-09-30 09:10:41 +10:00 committed by Andrew Tridgell
parent 1d1956739e
commit de4dda2d17
17 changed files with 82 additions and 78 deletions
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35
ArduPlane/ArduPlane.cpp
View File

@ -479,7 +479,7 @@ void Plane::update_fly_forward(void)
} }
#endif #endif
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) { if (flight_stage == AP_FixedWing::FlightStage::LAND) {
ahrs.set_fly_forward(landing.is_flying_forward()); ahrs.set_fly_forward(landing.is_flying_forward());
return; return;
} }
@ -490,15 +490,15 @@ void Plane::update_fly_forward(void)
/* /*
set the flight stage set the flight stage
*/ */
void Plane::set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs) void Plane::set_flight_stage(AP_FixedWing::FlightStage fs)
{ {
if (fs == flight_stage) { if (fs == flight_stage) {
return; return;
} }
landing.handle_flight_stage_change(fs == AP_Vehicle::FixedWing::FLIGHT_LAND); landing.handle_flight_stage_change(fs == AP_FixedWing::FlightStage::LAND);
if (fs == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) { if (fs == AP_FixedWing::FlightStage::ABORT_LANDING) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm", gcs().send_text(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm",
int(auto_state.takeoff_altitude_rel_cm/100)); int(auto_state.takeoff_altitude_rel_cm/100));
} }
@ -546,7 +546,8 @@ void Plane::update_alt()
if (control_mode->does_auto_throttle() && !throttle_suppressed) { if (control_mode->does_auto_throttle() && !throttle_suppressed) {
float distance_beyond_land_wp = 0; float distance_beyond_land_wp = 0;
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND && current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) { if (flight_stage == AP_FixedWing::FlightStage::LAND &&
current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) {
distance_beyond_land_wp = current_loc.get_distance(next_WP_loc); distance_beyond_land_wp = current_loc.get_distance(next_WP_loc);
} }
@ -580,49 +581,49 @@ void Plane::update_flight_stage(void)
if (control_mode == &mode_auto) { if (control_mode == &mode_auto) {
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
if (quadplane.in_vtol_auto()) { if (quadplane.in_vtol_auto()) {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_VTOL); set_flight_stage(AP_FixedWing::FlightStage::VTOL);
return; return;
} }
#endif #endif
if (auto_state.takeoff_complete == false) { if (auto_state.takeoff_complete == false) {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_TAKEOFF); set_flight_stage(AP_FixedWing::FlightStage::TAKEOFF);
return; return;
} else if (mission.get_current_nav_cmd().id == MAV_CMD_NAV_LAND) { } else if (mission.get_current_nav_cmd().id == MAV_CMD_NAV_LAND) {
if (landing.is_commanded_go_around() || flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) { if (landing.is_commanded_go_around() || flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING) {
// abort mode is sticky, it must complete while executing NAV_LAND // abort mode is sticky, it must complete while executing NAV_LAND
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND); set_flight_stage(AP_FixedWing::FlightStage::ABORT_LANDING);
} else if (landing.get_abort_throttle_enable() && get_throttle_input() >= 90 && } else if (landing.get_abort_throttle_enable() && get_throttle_input() >= 90 &&
landing.request_go_around()) { landing.request_go_around()) {
gcs().send_text(MAV_SEVERITY_INFO,"Landing aborted via throttle"); gcs().send_text(MAV_SEVERITY_INFO,"Landing aborted via throttle");
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND); set_flight_stage(AP_FixedWing::FlightStage::ABORT_LANDING);
} else { } else {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND); set_flight_stage(AP_FixedWing::FlightStage::LAND);
} }
return; return;
} }
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
if (quadplane.in_assisted_flight()) { if (quadplane.in_assisted_flight()) {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_VTOL); set_flight_stage(AP_FixedWing::FlightStage::VTOL);
return; return;
} }
#endif #endif
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL); set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
} else if (control_mode != &mode_takeoff) { } else if (control_mode != &mode_takeoff) {
// If not in AUTO then assume normal operation for normal TECS operation. // If not in AUTO then assume normal operation for normal TECS operation.
// This prevents TECS from being stuck in the wrong stage if you switch from // This prevents TECS from being stuck in the wrong stage if you switch from
// AUTO to, say, FBWB during a landing, an aborted landing or takeoff. // AUTO to, say, FBWB during a landing, an aborted landing or takeoff.
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL); set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
} }
return; return;
} }
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
if (quadplane.in_vtol_mode() || if (quadplane.in_vtol_mode() ||
quadplane.in_assisted_flight()) { quadplane.in_assisted_flight()) {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_VTOL); set_flight_stage(AP_FixedWing::FlightStage::VTOL);
return; return;
} }
#endif #endif
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL); set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
} }
@ -662,7 +663,7 @@ float Plane::tecs_hgt_afe(void)
coming. coming.
*/ */
float hgt_afe; float hgt_afe;
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) { if (flight_stage == AP_FixedWing::FlightStage::LAND) {
hgt_afe = height_above_target(); hgt_afe = height_above_target();
hgt_afe -= rangefinder_correction(); hgt_afe -= rangefinder_correction();
} else { } else {

16
ArduPlane/Attitude.cpp
View File

@ -51,7 +51,7 @@ float Plane::calc_speed_scaler(void)
} }
if (!plane.ahrs.airspeed_sensor_enabled() && if (!plane.ahrs.airspeed_sensor_enabled() &&
(plane.g2.flight_options & FlightOptions::SURPRESS_TKOFF_SCALING) && (plane.g2.flight_options & FlightOptions::SURPRESS_TKOFF_SCALING) &&
(plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF)) { //scaling is surpressed during climb phase of automatic takeoffs with no airspeed sensor being used due to problems with inaccurate airspeed estimates (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF)) { //scaling is surpressed during climb phase of automatic takeoffs with no airspeed sensor being used due to problems with inaccurate airspeed estimates
return MIN(speed_scaler, 1.0f) ; return MIN(speed_scaler, 1.0f) ;
} }
return speed_scaler; return speed_scaler;
@ -767,8 +767,8 @@ void Plane::calc_nav_yaw_ground(void)
{ {
if (gps.ground_speed() < 1 && if (gps.ground_speed() < 1 &&
is_zero(get_throttle_input()) && is_zero(get_throttle_input()) &&
flight_stage != AP_Vehicle::FixedWing::FLIGHT_TAKEOFF && flight_stage != AP_FixedWing::FlightStage::TAKEOFF &&
flight_stage != AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) { flight_stage != AP_FixedWing::FlightStage::ABORT_LANDING) {
// manual rudder control while still // manual rudder control while still
steer_state.locked_course = false; steer_state.locked_course = false;
steer_state.locked_course_err = 0; steer_state.locked_course_err = 0;
@ -784,8 +784,8 @@ void Plane::calc_nav_yaw_ground(void)
steer_state.last_steer_ms = now_ms; steer_state.last_steer_ms = now_ms;
float steer_rate = (rudder_input()/4500.0f) * g.ground_steer_dps; float steer_rate = (rudder_input()/4500.0f) * g.ground_steer_dps;
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || if (flight_stage == AP_FixedWing::FlightStage::TAKEOFF ||
flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) { flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING) {
steer_rate = 0; steer_rate = 0;
} }
if (!is_zero(steer_rate)) { if (!is_zero(steer_rate)) {
@ -794,8 +794,8 @@ void Plane::calc_nav_yaw_ground(void)
} else if (!steer_state.locked_course) { } else if (!steer_state.locked_course) {
// pilot has released the rudder stick or we are still - lock the course // pilot has released the rudder stick or we are still - lock the course
steer_state.locked_course = true; steer_state.locked_course = true;
if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_TAKEOFF && if (flight_stage != AP_FixedWing::FlightStage::TAKEOFF &&
flight_stage != AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) { flight_stage != AP_FixedWing::FlightStage::ABORT_LANDING) {
steer_state.locked_course_err = 0; steer_state.locked_course_err = 0;
} }
} }
@ -889,7 +889,7 @@ void Plane::calc_nav_roll()
void Plane::adjust_nav_pitch_throttle(void) void Plane::adjust_nav_pitch_throttle(void)
{ {
int8_t throttle = throttle_percentage(); int8_t throttle = throttle_percentage();
if (throttle >= 0 && throttle < aparm.throttle_cruise && flight_stage != AP_Vehicle::FixedWing::FLIGHT_VTOL) { if (throttle >= 0 && throttle < aparm.throttle_cruise && flight_stage != AP_FixedWing::FlightStage::VTOL) {
float p = (aparm.throttle_cruise - throttle) / (float)aparm.throttle_cruise; float p = (aparm.throttle_cruise - throttle) / (float)aparm.throttle_cruise;
nav_pitch_cd -= g.stab_pitch_down * 100.0f * p; nav_pitch_cd -= g.stab_pitch_down * 100.0f * p;
} }

4
ArduPlane/GCS_Mavlink.cpp
View File

@ -357,7 +357,7 @@ void GCS_MAVLINK_Plane::send_pid_tuning()
pid_info = &plane.steerController.get_pid_info(); pid_info = &plane.steerController.get_pid_info();
send_pid_info(pid_info, PID_TUNING_STEER, pid_info->actual); send_pid_info(pid_info, PID_TUNING_STEER, pid_info->actual);
} }
if ((g.gcs_pid_mask & TUNING_BITS_LAND) && (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND)) { if ((g.gcs_pid_mask & TUNING_BITS_LAND) && (plane.flight_stage == AP_FixedWing::FlightStage::LAND)) {
AP_AHRS &ahrs = AP::ahrs(); AP_AHRS &ahrs = AP::ahrs();
const Vector3f &gyro = ahrs.get_gyro(); const Vector3f &gyro = ahrs.get_gyro();
send_pid_info(plane.landing.get_pid_info(), PID_TUNING_LANDING, degrees(gyro.z)); send_pid_info(plane.landing.get_pid_info(), PID_TUNING_LANDING, degrees(gyro.z));
@ -1022,7 +1022,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
case MAV_CMD_DO_GO_AROUND: case MAV_CMD_DO_GO_AROUND:
{ {
uint16_t mission_id = plane.mission.get_current_nav_cmd().id; uint16_t mission_id = plane.mission.get_current_nav_cmd().id;
bool is_in_landing = (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) || bool is_in_landing = (plane.flight_stage == AP_FixedWing::FlightStage::LAND) ||
(mission_id == MAV_CMD_NAV_LAND) || (mission_id == MAV_CMD_NAV_LAND) ||
(mission_id == MAV_CMD_NAV_VTOL_LAND); (mission_id == MAV_CMD_NAV_VTOL_LAND);
if (is_in_landing) { if (is_in_landing) {

10
ArduPlane/Plane.h
View File

@ -165,7 +165,7 @@ public:
private: private:
// key aircraft parameters passed to multiple libraries // key aircraft parameters passed to multiple libraries
AP_Vehicle::FixedWing aparm; AP_FixedWing aparm;
// Global parameters are all contained within the 'g' and 'g2' classes. // Global parameters are all contained within the 'g' and 'g2' classes.
Parameters g; Parameters g;
@ -191,7 +191,7 @@ private:
// flight modes convenience array // flight modes convenience array
AP_Int8 *flight_modes = &g.flight_mode1; AP_Int8 *flight_modes = &g.flight_mode1;
AP_Vehicle::FixedWing::Rangefinder_State rangefinder_state; AP_FixedWing::Rangefinder_State rangefinder_state;
#if AP_RPM_ENABLED #if AP_RPM_ENABLED
AP_RPM rpm_sensor; AP_RPM rpm_sensor;
@ -561,7 +561,7 @@ private:
#if LANDING_GEAR_ENABLED == ENABLED #if LANDING_GEAR_ENABLED == ENABLED
// landing gear state // landing gear state
struct { struct {
AP_Vehicle::FixedWing::FlightStage last_flight_stage; AP_FixedWing::FlightStage last_flight_stage;
} gear; } gear;
#endif #endif
@ -594,7 +594,7 @@ private:
int8_t throttle_watt_limit_min; // for reverse thrust int8_t throttle_watt_limit_min; // for reverse thrust
uint32_t throttle_watt_limit_timer_ms; uint32_t throttle_watt_limit_timer_ms;
AP_Vehicle::FixedWing::FlightStage flight_stage = AP_Vehicle::FixedWing::FLIGHT_NORMAL; AP_FixedWing::FlightStage flight_stage = AP_FixedWing::FlightStage::NORMAL;
// probability of aircraft is currently in flight. range from 0 to // probability of aircraft is currently in flight. range from 0 to
// 1 where 1 is 100% sure we're in flight // 1 where 1 is 100% sure we're in flight
@ -1013,7 +1013,7 @@ private:
void update_control_mode(void); void update_control_mode(void);
void update_fly_forward(void); void update_fly_forward(void);
void update_flight_stage(); void update_flight_stage();
void set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs); void set_flight_stage(AP_FixedWing::FlightStage fs);
// navigation.cpp // navigation.cpp
void loiter_angle_reset(void); void loiter_angle_reset(void);

10
ArduPlane/altitude.cpp
View File

@ -448,7 +448,7 @@ void Plane::set_offset_altitude_location(const Location &start_loc, const Locati
} }
#endif #endif
if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) { if (flight_stage != AP_FixedWing::FlightStage::LAND) {
// if we are within GLIDE_SLOPE_MIN meters of the target altitude // if we are within GLIDE_SLOPE_MIN meters of the target altitude
// then reset the offset to not use a glide slope. This allows for // then reset the offset to not use a glide slope. This allows for
// more accurate flight of missions where the aircraft may lose or // more accurate flight of missions where the aircraft may lose or
@ -539,7 +539,7 @@ float Plane::mission_alt_offset(void)
{ {
float ret = g.alt_offset; float ret = g.alt_offset;
if (control_mode == &mode_auto && if (control_mode == &mode_auto &&
(flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND || auto_state.wp_is_land_approach)) { (flight_stage == AP_FixedWing::FlightStage::LAND || auto_state.wp_is_land_approach)) {
// when landing after an aborted landing due to too high glide // when landing after an aborted landing due to too high glide
// slope we use an offset from the last landing attempt // slope we use an offset from the last landing attempt
ret += landing.alt_offset; ret += landing.alt_offset;
@ -641,7 +641,7 @@ float Plane::rangefinder_correction(void)
} }
// for now we only support the rangefinder for landing // for now we only support the rangefinder for landing
bool using_rangefinder = (g.rangefinder_landing && flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND); bool using_rangefinder = (g.rangefinder_landing && flight_stage == AP_FixedWing::FlightStage::LAND);
if (!using_rangefinder) { if (!using_rangefinder) {
return 0; return 0;
} }
@ -657,7 +657,7 @@ void Plane::rangefinder_terrain_correction(float &height)
{ {
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE
if (!g.rangefinder_landing || if (!g.rangefinder_landing ||
flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND || flight_stage != AP_FixedWing::FlightStage::LAND ||
!terrain_enabled_in_current_mode()) { !terrain_enabled_in_current_mode()) {
return; return;
} }
@ -707,7 +707,7 @@ void Plane::rangefinder_height_update(void)
} else { } else {
rangefinder_state.in_range = true; rangefinder_state.in_range = true;
bool flightstage_good_for_rangefinder_landing = false; bool flightstage_good_for_rangefinder_landing = false;
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) { if (flight_stage == AP_FixedWing::FlightStage::LAND) {
flightstage_good_for_rangefinder_landing = true; flightstage_good_for_rangefinder_landing = true;
} }
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED

2
ArduPlane/avoidance_adsb.cpp
View File

@ -27,7 +27,7 @@ MAV_COLLISION_ACTION AP_Avoidance_Plane::handle_avoidance(const AP_Avoidance::Ob
bool flightmode_prohibits_action = false; bool flightmode_prohibits_action = false;
if (plane.control_mode == &plane.mode_manual || if (plane.control_mode == &plane.mode_manual ||
(plane.control_mode == &plane.mode_auto && !plane.auto_state.takeoff_complete) || (plane.control_mode == &plane.mode_auto && !plane.auto_state.takeoff_complete) ||
(plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) || // TODO: consider allowing action during approach (plane.flight_stage == AP_FixedWing::FlightStage::LAND) || // TODO: consider allowing action during approach
plane.control_mode == &plane.mode_autotune) { plane.control_mode == &plane.mode_autotune) {
flightmode_prohibits_action = true; flightmode_prohibits_action = true;
} }

6
ArduPlane/commands_logic.cpp
View File

@ -246,7 +246,7 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
return quadplane.verify_vtol_land(); return quadplane.verify_vtol_land();
} }
#endif #endif
if (flight_stage == AP_Vehicle::FixedWing::FlightStage::FLIGHT_ABORT_LAND) { if (flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING) {
return landing.verify_abort_landing(prev_WP_loc, next_WP_loc, current_loc, auto_state.takeoff_altitude_rel_cm, throttle_suppressed); return landing.verify_abort_landing(prev_WP_loc, next_WP_loc, current_loc, auto_state.takeoff_altitude_rel_cm, throttle_suppressed);
} else { } else {
@ -413,9 +413,9 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
landing.do_land(cmd, relative_altitude); landing.do_land(cmd, relative_altitude);
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) { if (flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING) {
// if we were in an abort we need to explicitly move out of the abort state, as it's sticky // if we were in an abort we need to explicitly move out of the abort state, as it's sticky
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND); set_flight_stage(AP_FixedWing::FlightStage::LAND);
} }
#if AP_FENCE_ENABLED #if AP_FENCE_ENABLED

6
ArduPlane/events.cpp
View File

@ -4,7 +4,7 @@
// for use in failsafe code. // for use in failsafe code.
bool Plane::failsafe_in_landing_sequence() const bool Plane::failsafe_in_landing_sequence() const
{ {
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) { if (flight_stage == AP_FixedWing::FlightStage::LAND) {
return true; return true;
} }
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
@ -238,7 +238,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
FALLTHROUGH; FALLTHROUGH;
#endif // HAL_QUADPLANE_ENABLED #endif // HAL_QUADPLANE_ENABLED
case Failsafe_Action_Land: { case Failsafe_Action_Land: {
bool already_landing = flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND; bool already_landing = flight_stage == AP_FixedWing::FlightStage::LAND;
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
if (control_mode == &mode_qland || control_mode == &mode_loiter_qland) { if (control_mode == &mode_qland || control_mode == &mode_loiter_qland) {
already_landing = true; already_landing = true;
@ -259,7 +259,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
FALLTHROUGH; FALLTHROUGH;
} }
case Failsafe_Action_RTL: { case Failsafe_Action_RTL: {
bool already_landing = flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND; bool already_landing = flight_stage == AP_FixedWing::FlightStage::LAND;
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
if (control_mode == &mode_qland || control_mode == &mode_loiter_qland || if (control_mode == &mode_qland || control_mode == &mode_loiter_qland ||
quadplane.in_vtol_land_sequence()) { quadplane.in_vtol_land_sequence()) {

20
ArduPlane/is_flying.cpp
View File

@ -83,10 +83,10 @@ void Plane::update_is_flying_5Hz(void)
switch (flight_stage) switch (flight_stage)
{ {
case AP_Vehicle::FixedWing::FLIGHT_TAKEOFF: case AP_FixedWing::FlightStage::TAKEOFF:
break; break;
case AP_Vehicle::FixedWing::FLIGHT_NORMAL: case AP_FixedWing::FlightStage::NORMAL:
if (in_preLaunch_flight_stage()) { if (in_preLaunch_flight_stage()) {
// while on the ground, an uncalibrated airspeed sensor can drift to 7m/s so // while on the ground, an uncalibrated airspeed sensor can drift to 7m/s so
// ensure we aren't showing a false positive. // ensure we aren't showing a false positive.
@ -96,17 +96,17 @@ void Plane::update_is_flying_5Hz(void)
} }
break; break;
case AP_Vehicle::FixedWing::FLIGHT_VTOL: case AP_FixedWing::FlightStage::VTOL:
// TODO: detect ground impacts // TODO: detect ground impacts
break; break;
case AP_Vehicle::FixedWing::FLIGHT_LAND: case AP_FixedWing::FlightStage::LAND:
if (landing.is_on_approach() && auto_state.sink_rate > 0.2f) { if (landing.is_on_approach() && auto_state.sink_rate > 0.2f) {
is_flying_bool = true; is_flying_bool = true;
} }
break; break;
case AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND: case AP_FixedWing::FlightStage::ABORT_LANDING:
if (auto_state.sink_rate < -0.5f) { if (auto_state.sink_rate < -0.5f) {
// steep climb // steep climb
is_flying_bool = true; is_flying_bool = true;
@ -121,7 +121,7 @@ void Plane::update_is_flying_5Hz(void)
// when disarmed assume not flying and need overwhelming evidence that we ARE flying // when disarmed assume not flying and need overwhelming evidence that we ARE flying
is_flying_bool = airspeed_movement && gps_confirmed_movement; is_flying_bool = airspeed_movement && gps_confirmed_movement;
if ((flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF) || landing.is_flaring()) { if ((flight_stage == AP_FixedWing::FlightStage::TAKEOFF) || landing.is_flaring()) {
is_flying_bool = false; is_flying_bool = false;
} }
} }
@ -257,7 +257,7 @@ void Plane::crash_detection_update(void)
} else { } else {
switch (flight_stage) switch (flight_stage)
{ {
case AP_Vehicle::FixedWing::FLIGHT_TAKEOFF: case AP_FixedWing::FlightStage::TAKEOFF:
if (g.takeoff_throttle_min_accel > 0 && if (g.takeoff_throttle_min_accel > 0 &&
!throttle_suppressed) { !throttle_suppressed) {
// if you have an acceleration holding back throttle, but you met the // if you have an acceleration holding back throttle, but you met the
@ -269,14 +269,14 @@ void Plane::crash_detection_update(void)
// TODO: handle auto missions without NAV_TAKEOFF mission cmd // TODO: handle auto missions without NAV_TAKEOFF mission cmd
break; break;
case AP_Vehicle::FixedWing::FLIGHT_NORMAL: case AP_FixedWing::FlightStage::NORMAL:
if (!in_preLaunch_flight_stage() && been_auto_flying) { if (!in_preLaunch_flight_stage() && been_auto_flying) {
crashed = true; crashed = true;
crash_state.debounce_time_total_ms = CRASH_DETECTION_DELAY_MS; crash_state.debounce_time_total_ms = CRASH_DETECTION_DELAY_MS;
} }
break; break;
case AP_Vehicle::FixedWing::FLIGHT_VTOL: case AP_FixedWing::FlightStage::VTOL:
// we need a totally new method for this // we need a totally new method for this
crashed = false; crashed = false;
break; break;
@ -337,6 +337,6 @@ bool Plane::in_preLaunch_flight_stage(void)
#endif #endif
return (control_mode == &mode_auto && return (control_mode == &mode_auto &&
throttle_suppressed && throttle_suppressed &&
flight_stage == AP_Vehicle::FixedWing::FLIGHT_NORMAL && flight_stage == AP_FixedWing::FlightStage::NORMAL &&
mission.get_current_nav_cmd().id == MAV_CMD_NAV_TAKEOFF); mission.get_current_nav_cmd().id == MAV_CMD_NAV_TAKEOFF);
} }

2
ArduPlane/mode_auto.cpp
View File

@ -80,7 +80,7 @@ void ModeAuto::update()
#endif #endif
if (nav_cmd_id == MAV_CMD_NAV_TAKEOFF || if (nav_cmd_id == MAV_CMD_NAV_TAKEOFF ||
(nav_cmd_id == MAV_CMD_NAV_LAND && plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND)) { (nav_cmd_id == MAV_CMD_NAV_LAND && plane.flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING)) {
plane.takeoff_calc_roll(); plane.takeoff_calc_roll();
plane.takeoff_calc_pitch(); plane.takeoff_calc_pitch();
plane.calc_throttle(); plane.calc_throttle();

10
ArduPlane/mode_takeoff.cpp
View File

@ -66,7 +66,7 @@ void ModeTakeoff::update()
plane.prev_WP_loc = plane.current_loc; plane.prev_WP_loc = plane.current_loc;
plane.next_WP_loc = plane.current_loc; plane.next_WP_loc = plane.current_loc;
takeoff_started = true; takeoff_started = true;
plane.set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL); plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
} }
} }
@ -87,7 +87,7 @@ void ModeTakeoff::update()
plane.auto_state.takeoff_pitch_cd = level_pitch * 100; plane.auto_state.takeoff_pitch_cd = level_pitch * 100;
plane.set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_TAKEOFF); plane.set_flight_stage(AP_FixedWing::FlightStage::TAKEOFF);
if (!plane.throttle_suppressed) { if (!plane.throttle_suppressed) {
gcs().send_text(MAV_SEVERITY_INFO, "Takeoff to %.0fm at %.1fm to %.1f deg", gcs().send_text(MAV_SEVERITY_INFO, "Takeoff to %.0fm at %.1fm to %.1f deg",
@ -99,7 +99,7 @@ void ModeTakeoff::update()
// we finish the initial level takeoff if we climb past // we finish the initial level takeoff if we climb past
// TKOFF_LVL_ALT or we pass the target location. The check for // TKOFF_LVL_ALT or we pass the target location. The check for
// target location prevents us flying forever if we can't climb // target location prevents us flying forever if we can't climb
if (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF && if (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF &&
(plane.current_loc.alt - start_loc.alt >= level_alt*100 || (plane.current_loc.alt - start_loc.alt >= level_alt*100 ||
start_loc.get_distance(plane.current_loc) >= target_dist)) { start_loc.get_distance(plane.current_loc) >= target_dist)) {
// reached level alt, re-calculate bearing to cope with systems with no compass // reached level alt, re-calculate bearing to cope with systems with no compass
@ -112,14 +112,14 @@ void ModeTakeoff::update()
plane.next_WP_loc.offset_bearing(direction, MAX(dist-dist_done, 0)); plane.next_WP_loc.offset_bearing(direction, MAX(dist-dist_done, 0));
plane.next_WP_loc.alt = start_loc.alt + target_alt*100.0; plane.next_WP_loc.alt = start_loc.alt + target_alt*100.0;
plane.set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL); plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
#if AP_FENCE_ENABLED #if AP_FENCE_ENABLED
plane.fence.auto_enable_fence_after_takeoff(); plane.fence.auto_enable_fence_after_takeoff();
#endif #endif
} }
if (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF) { if (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 100.0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 100.0);
plane.takeoff_calc_roll(); plane.takeoff_calc_roll();
plane.takeoff_calc_pitch(); plane.takeoff_calc_pitch();

2
ArduPlane/navigation.cpp
View File

@ -224,7 +224,7 @@ void Plane::calc_airspeed_errors()
} }
#endif #endif
} else if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) { } else if (flight_stage == AP_FixedWing::FlightStage::LAND) {
// Landing airspeed target // Landing airspeed target
target_airspeed_cm = landing.get_target_airspeed_cm(); target_airspeed_cm = landing.get_target_airspeed_cm();
} else if (control_mode == &mode_guided && new_airspeed_cm > 0) { //DO_CHANGE_SPEED overrides onboard guided speed commands, user would have re-enter guided mode to revert } else if (control_mode == &mode_guided && new_airspeed_cm > 0) { //DO_CHANGE_SPEED overrides onboard guided speed commands, user would have re-enter guided mode to revert

5
ArduPlane/quadplane.h
View File

@ -19,6 +19,7 @@
#include <AC_WPNav/AC_Loiter.h> #include <AC_WPNav/AC_Loiter.h>
#include <AC_Avoidance/AC_Avoid.h> #include <AC_Avoidance/AC_Avoid.h>
#include <AP_Logger/LogStructure.h> #include <AP_Logger/LogStructure.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_Proximity/AP_Proximity.h> #include <AP_Proximity/AP_Proximity.h>
#include "qautotune.h" #include "qautotune.h"
#include "defines.h" #include "defines.h"
@ -173,7 +174,9 @@ public:
private: private:
AP_AHRS &ahrs; AP_AHRS &ahrs;
AP_Vehicle::MultiCopter aparm;
// key aircraft parameters passed to multiple libraries
AP_MultiCopter aparm;
AP_InertialNav inertial_nav{ahrs}; AP_InertialNav inertial_nav{ahrs};

2
ArduPlane/sensors.cpp
View File

@ -18,7 +18,7 @@ void Plane::read_rangefinder(void)
#endif #endif
{ {
// use the best available alt estimate via baro above home // use the best available alt estimate via baro above home
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) { if (flight_stage == AP_FixedWing::FlightStage::LAND) {
// ensure the rangefinder is powered-on when land alt is higher than home altitude. // ensure the rangefinder is powered-on when land alt is higher than home altitude.
// This is done using the target alt which we know is below us and we are sinking to it // This is done using the target alt which we know is below us and we are sinking to it
height = height_above_target(); height = height_above_target();

24
ArduPlane/servos.cpp
View File

@ -40,13 +40,13 @@ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
if (control_mode == &mode_auto) { if (control_mode == &mode_auto) {
if (auto_state.takeoff_complete == false && g.takeoff_throttle_slewrate != 0) { if (auto_state.takeoff_complete == false && g.takeoff_throttle_slewrate != 0) {
slewrate = g.takeoff_throttle_slewrate; slewrate = g.takeoff_throttle_slewrate;
} else if (landing.get_throttle_slewrate() != 0 && flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) { } else if (landing.get_throttle_slewrate() != 0 && flight_stage == AP_FixedWing::FlightStage::LAND) {
slewrate = landing.get_throttle_slewrate(); slewrate = landing.get_throttle_slewrate();
} }
} }
if (g.takeoff_throttle_slewrate != 0 && if (g.takeoff_throttle_slewrate != 0 &&
(flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || (flight_stage == AP_FixedWing::FlightStage::TAKEOFF ||
flight_stage == AP_Vehicle::FixedWing::FLIGHT_VTOL)) { flight_stage == AP_FixedWing::FlightStage::VTOL)) {
// for VTOL we use takeoff slewrate, which helps with transition // for VTOL we use takeoff slewrate, which helps with transition
slewrate = g.takeoff_throttle_slewrate; slewrate = g.takeoff_throttle_slewrate;
} }
@ -492,7 +492,7 @@ void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
*/ */
void Plane::set_servos_controlled(void) void Plane::set_servos_controlled(void)
{ {
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) { if (flight_stage == AP_FixedWing::FlightStage::LAND) {
// allow landing to override servos if it would like to // allow landing to override servos if it would like to
landing.override_servos(); landing.override_servos();
} }
@ -512,8 +512,8 @@ void Plane::set_servos_controlled(void)
} }
bool flight_stage_determines_max_throttle = false; bool flight_stage_determines_max_throttle = false;
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF || if (flight_stage == AP_FixedWing::FlightStage::TAKEOFF ||
flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING
) { ) {
flight_stage_determines_max_throttle = true; flight_stage_determines_max_throttle = true;
} }
@ -654,19 +654,19 @@ void Plane::set_servos_flaps(void)
possibility of oscillation possibility of oscillation
*/ */
switch (flight_stage) { switch (flight_stage) {
case AP_Vehicle::FixedWing::FLIGHT_TAKEOFF: case AP_FixedWing::FlightStage::TAKEOFF:
case AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND: case AP_FixedWing::FlightStage::ABORT_LANDING:
if (g.takeoff_flap_percent != 0) { if (g.takeoff_flap_percent != 0) {
auto_flap_percent = g.takeoff_flap_percent; auto_flap_percent = g.takeoff_flap_percent;
} }
break; break;
case AP_Vehicle::FixedWing::FLIGHT_NORMAL: case AP_FixedWing::FlightStage::NORMAL:
if (g.takeoff_flap_percent != 0 && in_preLaunch_flight_stage()) { if (g.takeoff_flap_percent != 0 && in_preLaunch_flight_stage()) {
// TODO: move this to a new FLIGHT_PRE_TAKEOFF stage // TODO: move this to a new FLIGHT_PRE_TAKEOFF stage
auto_flap_percent = g.takeoff_flap_percent; auto_flap_percent = g.takeoff_flap_percent;
} }
break; break;
case AP_Vehicle::FixedWing::FLIGHT_LAND: case AP_FixedWing::FlightStage::LAND:
if (landing.get_flap_percent() != 0) { if (landing.get_flap_percent() != 0) {
auto_flap_percent = landing.get_flap_percent(); auto_flap_percent = landing.get_flap_percent();
} }
@ -699,10 +699,10 @@ void Plane::set_landing_gear(void)
{ {
if (control_mode == &mode_auto && hal.util->get_soft_armed() && is_flying() && gear.last_flight_stage != flight_stage) { if (control_mode == &mode_auto && hal.util->get_soft_armed() && is_flying() && gear.last_flight_stage != flight_stage) {
switch (flight_stage) { switch (flight_stage) {
case AP_Vehicle::FixedWing::FLIGHT_LAND: case AP_FixedWing::FlightStage::LAND:
g2.landing_gear.deploy_for_landing(); g2.landing_gear.deploy_for_landing();
break; break;
case AP_Vehicle::FixedWing::FLIGHT_NORMAL: case AP_FixedWing::FlightStage::NORMAL:
g2.landing_gear.retract_after_takeoff(); g2.landing_gear.retract_after_takeoff();
break; break;
default: default:

4
ArduPlane/system.cpp
View File

@ -353,7 +353,7 @@ void Plane::check_long_failsafe()
const uint32_t tnow = millis(); const uint32_t tnow = millis();
// only act on changes // only act on changes
// ------------------- // -------------------
if (failsafe.state != FAILSAFE_LONG && failsafe.state != FAILSAFE_GCS && flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) { if (failsafe.state != FAILSAFE_LONG && failsafe.state != FAILSAFE_GCS && flight_stage != AP_FixedWing::FlightStage::LAND) {
uint32_t radio_timeout_ms = failsafe.last_valid_rc_ms; uint32_t radio_timeout_ms = failsafe.last_valid_rc_ms;
if (failsafe.state == FAILSAFE_SHORT) { if (failsafe.state == FAILSAFE_SHORT) {
// time is relative to when short failsafe enabled // time is relative to when short failsafe enabled
@ -400,7 +400,7 @@ void Plane::check_short_failsafe()
// ------------------- // -------------------
if (g.fs_action_short != FS_ACTION_SHORT_DISABLED && if (g.fs_action_short != FS_ACTION_SHORT_DISABLED &&
failsafe.state == FAILSAFE_NONE && failsafe.state == FAILSAFE_NONE &&
flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) { flight_stage != AP_FixedWing::FlightStage::LAND) {
// The condition is checked and the flag rc_failsafe is set in radio.cpp // The condition is checked and the flag rc_failsafe is set in radio.cpp
if(failsafe.rc_failsafe) { if(failsafe.rc_failsafe) {
failsafe_short_on_event(FAILSAFE_SHORT, ModeReason::RADIO_FAILSAFE); failsafe_short_on_event(FAILSAFE_SHORT, ModeReason::RADIO_FAILSAFE);

2
ArduPlane/takeoff.cpp
View File

@ -201,7 +201,7 @@ void Plane::takeoff_calc_pitch(void)
*/ */
int16_t Plane::get_takeoff_pitch_min_cd(void) int16_t Plane::get_takeoff_pitch_min_cd(void)
{ {
if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_TAKEOFF) { if (flight_stage != AP_FixedWing::FlightStage::TAKEOFF) {
return auto_state.takeoff_pitch_cd; return auto_state.takeoff_pitch_cd;
} }