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Artoo: Add new ArduCopter flight modes

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This commit is contained in:
Matt Lawrence 2019-01-05 10:32:02 -05:00 committed by Matt
parent 2d13cc9ccf
commit 8abf555b35
2 changed files with 8 additions and 1 deletions
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3
artoo/src/flightmanager.cpp
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@ -65,6 +65,9 @@ const char *FlightManager::flightModeStr(FlightMode m)
case AVOID_ADSB: return "ADS-B AVOID";
case GUIDED_NOGPS: return "Guided No GPS";
case SMART_RTL: return "Smart RTL";
case FLOWHOLD: return "Flow Hold";
case FOLLOW: return "Follow";
case ZIGZAG: return "Zig Zag";
default: return "Unknown";
}
}

6
artoo/src/flightmanager.h
View File

@ -36,6 +36,9 @@ public:
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
FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder
FOLLOW = 23, // Follow attempts to follow another vehicle or ground station
ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
};
/*
@ -104,7 +107,8 @@ 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 == BRAKE || m == THROW || m == AVOID_ADSB || m == GUIDED_NOGPS || m == SMART_RTL );
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 || m == FLOWHOLD
|| m == FOLLOW || m == ZIGZAG);
}
ALWAYS_INLINE bool currentFlightModeManual() const {