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MODES: Add newer ArduCopter flight modes

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Several new flight modes have been added to ArduCopter since the Solo
was created.  This patch addes to the enumerations:
- Throw Mode
- ADS-B Aviodance (not a user mode)
- Guided w/ no GPS
- Smart RTL
This commit is contained in:
Matt 2017-12-24 11:44:48 -05:00
parent cc732e2d52
commit 77d268a388
2 changed files with 42 additions and 36 deletions
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36
artoo/src/flightmanager.cpp
View File

@ -46,22 +46,26 @@ void FlightManager::init()
const char *FlightManager::flightModeStr(FlightMode m)
{
switch (m) {
case STABILIZE: return "Stabilize";
case ACRO: return "Acro";
case ALT_HOLD: return "Alt Hold";
case AUTO: return "Auto";
case GUIDED: return "Guided";
case LOITER: return "Loiter";
case RTL: return "Return to Home";
case CIRCLE: return "Circle";
case LAND: return "Land";
case OF_LOITER: return "OF Loiter";
case DRIFT: return "Drift";
case SPORT: return "Sport";
case FLIP: return "Flip";
case AUTOTUNE: return "Auto Tune";
case POSHOLD: return "Pos Hold";
default: return "Unknown";
case STABILIZE: return "Stabilize";
case ACRO: return "Acro";
case ALT_HOLD: return "Alt Hold";
case AUTO: return "Auto";
case GUIDED: return "Guided";
case LOITER: return "Loiter";
case RTL: return "Return to Home";
case CIRCLE: return "Circle";
case LAND: return "Land";
case DRIFT: return "Drift";
case SPORT: return "Sport";
case FLIP: return "Flip";
case AUTOTUNE: return "Auto Tune";
case POSHOLD: return "Pos Hold";
case BRAKE: return "Brake";
case THROW: return "Throw";
case AVOID_ADSB: return "ADS-B AVOID";
case GUIDED_NOGPS: return "Guided No GPS";
case SMART_RTL: return "Smart RTL";
default: return "Unknown";
}
}

42
artoo/src/flightmanager.h
View File

@ -17,24 +17,26 @@ class FlightManager
public:
// in sync with github.com/diydrones/ardupilot/blob/master/ArduCopter/defines.h
enum FlightMode {
STABILIZE = 0, // hold level position
ACRO = 1, // rate control
ALT_HOLD = 2, // AUTO control
AUTO = 3, // AUTO control
GUIDED = 4, // AUTO control
LOITER = 5, // Hold a single location
RTL = 6, // AUTO control
CIRCLE = 7, // AUTO control
LAND = 9, // AUTO control
OF_LOITER = 10, // Hold a single location using optical flow sensor
DRIFT = 11, // DRIFT mode (Note: 12 is no longer used)
SPORT = 13, // earth frame rate control
FLIP = 14, // flip the vehicle on the roll axis
AUTOTUNE = 15, // autotune the vehicle's roll and pitch gains
POSHOLD = 16, // position hold with manual override
STOP = 17, // full-stop using inertial/GPS system, no pilot input. also referred to as BRAKE
};
//const int NUM_MODES = STOP+1;
STABILIZE = 0, // manual airframe angle with manual throttle
ACRO = 1, // manual body-frame angular rate with manual throttle
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
RTL = 6, // automatic return to launching point
CIRCLE = 7, // automatic circular flight with automatic throttle
LAND = 9, // automatic landing with horizontal position control
DRIFT = 11, // semi-automous position, yaw and throttle control
SPORT = 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
BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
AVOID_ADSB = 19, // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude
SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps
};
/*
* XXX: the MAVLINK_MSG_ID_STATUSTEXT indicates that the MAV_SEVERITY enum
@ -102,11 +104,11 @@ public:
}
static const char *flightModeStr(FlightMode m);
static bool flightModeIsAutonomous(FlightMode m) {
return (m == AUTO || m == GUIDED || m == LOITER || m == RTL || m == CIRCLE || m == DRIFT || m == POSHOLD || m == STOP );
return (m == AUTO || m == GUIDED || m == LOITER || m == RTL || m == CIRCLE || m == DRIFT || m == POSHOLD || m == BRAKE || m == THROW || m == AVOID_ADSB || m == GUIDED_NOGPS || m == SMART_RTL );
}
ALWAYS_INLINE bool currentFlightModeManual() const {
return !flightModeIsAutonomous(mode) && !(mode==OF_LOITER); // OF_LOITER is a deprecated mode
return !flightModeIsAutonomous(mode);
}
ALWAYS_INLINE bool currentFlightModeRequiresGPS() const {