#include <Copter.h>

Inheritance diagram for Copter:

Collaboration diagram for Copter:

Classes
union	ap_t

struct	debounce

class	Mode

class	ModeAcro

class	ModeAltHold

class	ModeAuto

class	ModeAutoTune

class	ModeAvoidADSB

class	ModeBrake

class	ModeCircle

class	ModeDrift

class	ModeFlip

class	ModeFlowHold

class	ModeFollow

class	ModeGuided

class	ModeGuidedNoGPS

class	ModeLand

class	ModeLoiter

class	ModePosHold

class	ModeRTL

class	ModeSmartRTL

class	ModeSport

class	ModeStabilize

class	ModeThrow

struct	takeoff_state_t

Public Member Functions
	Copter (void)

void	setup () override

void	loop () override

void	mavlink_delay_cb ()

void	failsafe_check ()

Public Attributes
	LOG_COMMON_STRUCTURES

bool	enabled:1

bool	alt_healthy:1

int16_t	alt_cm

uint32_t	last_healthy_ms

LowPassFilterFloat	alt_cm_filt

int8_t	glitch_count

int8_t	debounced_switch_position

int8_t	last_switch_position

uint32_t	last_edge_time_ms

uint32_t	last_heartbeat_ms

uint32_t	terrain_first_failure_ms

uint32_t	terrain_last_failure_ms

int8_t	radio_counter

uint8_t	rc_override_active: 1

uint8_t	radio: 1

uint8_t	gcs: 1

uint8_t	ekf: 1

uint8_t	terrain: 1

uint8_t	adsb: 1

uint8_t	baro: 1

uint8_t	compass: 1

uint8_t	primary_gps: 2

bool	takeoff_expected

bool	touchdown_expected

uint32_t	takeoff_time_ms

float	takeoff_alt_cm

Private Types
enum	Failsafe_Action { Failsafe_Action_None = 0, Failsafe_Action_Land = 1, Failsafe_Action_RTL = 2, Failsafe_Action_SmartRTL = 3, Failsafe_Action_SmartRTL_Land = 4, Failsafe_Action_Terminate = 5 }

Private Member Functions
bool	start_command (const AP_Mission::Mission_Command &cmd)

bool	verify_command_callback (const AP_Mission::Mission_Command &cmd)

void	exit_mission ()

GCS_Copter &	gcs ()

bool	any_failsafe_triggered () const

void	set_auto_armed (bool b)

void	set_simple_mode (uint8_t b)

void	set_failsafe_radio (bool b)

void	set_failsafe_gcs (bool b)

void	update_using_interlock ()

void	set_motor_emergency_stop (bool b)

void	fast_loop ()

void	rc_loop ()

void	throttle_loop ()

void	update_batt_compass (void)

void	fourhundred_hz_logging ()

void	ten_hz_logging_loop ()

void	twentyfive_hz_logging ()

void	three_hz_loop ()

void	one_hz_loop ()

void	update_GPS (void)

void	init_simple_bearing ()

void	update_simple_mode (void)

void	update_super_simple_bearing (bool force_update)

void	read_AHRS (void)

void	update_altitude ()

float	get_pilot_desired_yaw_rate (int16_t stick_angle)

void	update_throttle_hover ()

void	set_throttle_takeoff ()

float	get_pilot_desired_throttle (int16_t throttle_control, float thr_mid=0.0f)

float	get_pilot_desired_climb_rate (float throttle_control)

float	get_non_takeoff_throttle ()

float	get_surface_tracking_climb_rate (int16_t target_rate, float current_alt_target, float dt)

float	get_avoidance_adjusted_climbrate (float target_rate)

void	set_accel_throttle_I_from_pilot_throttle ()

void	rotate_body_frame_to_NE (float &x, float &y)

uint16_t	get_pilot_speed_dn ()

void	avoidance_adsb_update (void)

void	update_ground_effect_detector (void)

void	init_capabilities (void)

void	update_home_from_EKF ()

void	set_home_to_current_location_inflight ()

bool	set_home_to_current_location (bool lock)

bool	set_home (const Location &loc, bool lock)

bool	far_from_EKF_origin (const Location &loc)

void	set_system_time_from_GPS ()

MAV_RESULT	mavlink_compassmot (mavlink_channel_t chan)

void	delay (uint32_t ms)

void	crash_check ()

void	parachute_check ()

void	parachute_release ()

void	parachute_manual_release ()

void	ekf_check ()

bool	ekf_over_threshold ()

void	failsafe_ekf_event ()

void	failsafe_ekf_off_event (void)

void	check_ekf_reset ()

void	esc_calibration_startup_check ()

void	esc_calibration_passthrough ()

void	esc_calibration_auto ()

void	esc_calibration_notify ()

void	failsafe_radio_on_event ()

void	failsafe_radio_off_event ()

void	handle_battery_failsafe (const char *type_str, const int8_t action)

void	failsafe_gcs_check ()

void	failsafe_gcs_off_event (void)

void	failsafe_terrain_check ()

void	failsafe_terrain_set_status (bool data_ok)

void	failsafe_terrain_on_event ()

void	gpsglitch_check ()

void	set_mode_RTL_or_land_with_pause (mode_reason_t reason)

void	set_mode_SmartRTL_or_RTL (mode_reason_t reason)

void	set_mode_SmartRTL_or_land_with_pause (mode_reason_t reason)

bool	should_disarm_on_failsafe ()

void	update_events ()

void	failsafe_enable ()

void	failsafe_disable ()

void	fence_check ()

void	fence_send_mavlink_status (mavlink_channel_t chan)

void	gcs_send_heartbeat (void)

void	gcs_send_deferred (void)

void	send_fence_status (mavlink_channel_t chan)

void	send_extended_status1 (mavlink_channel_t chan)

void	send_nav_controller_output (mavlink_channel_t chan)

void	send_rpm (mavlink_channel_t chan)

void	send_pid_tuning (mavlink_channel_t chan)

void	gcs_data_stream_send (void)

void	gcs_check_input (void)

void	heli_init ()

void	check_dynamic_flight (void)

void	update_heli_control_dynamics (void)

void	heli_update_landing_swash ()

void	heli_update_rotor_speed_targets ()

void	read_inertia ()

void	update_land_and_crash_detectors ()

void	update_land_detector ()

void	set_land_complete (bool b)

void	set_land_complete_maybe (bool b)

void	update_throttle_thr_mix ()

void	landinggear_update ()

void	Log_Write_Optflow ()

void	Log_Write_Control_Tuning ()

void	Log_Write_Performance ()

void	Log_Write_Attitude ()

void	Log_Write_EKF_POS ()

void	Log_Write_MotBatt ()

void	Log_Write_Event (uint8_t id)

void	Log_Write_Data (uint8_t id, int32_t value)

void	Log_Write_Data (uint8_t id, uint32_t value)

void	Log_Write_Data (uint8_t id, int16_t value)

void	Log_Write_Data (uint8_t id, uint16_t value)

void	Log_Write_Data (uint8_t id, float value)

void	Log_Write_Error (uint8_t sub_system, uint8_t error_code)

void	Log_Write_Parameter_Tuning (uint8_t param, float tuning_val, int16_t control_in, int16_t tune_low, int16_t tune_high)

void	Log_Sensor_Health ()

void	Log_Write_Precland ()

void	Log_Write_GuidedTarget (uint8_t target_type, const Vector3f &pos_target, const Vector3f &vel_target)

void	Log_Write_Vehicle_Startup_Messages ()

void	log_init (void)

bool	set_mode (control_mode_t mode, mode_reason_t reason)

void	update_flight_mode ()

void	notify_flight_mode ()

void	set_mode_land_with_pause (mode_reason_t reason)

bool	landing_with_GPS ()

void	motor_test_output ()

bool	mavlink_motor_test_check (mavlink_channel_t chan, bool check_rc)

MAV_RESULT	mavlink_motor_test_start (mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec, uint8_t motor_count)

void	motor_test_stop ()

void	arm_motors_check ()

void	auto_disarm_check ()

bool	init_arm_motors (bool arming_from_gcs)

void	init_disarm_motors ()

void	motors_output ()

void	lost_vehicle_check ()

void	run_nav_updates (void)

int32_t	home_bearing ()

uint32_t	home_distance ()

void	load_parameters (void)

void	convert_pid_parameters (void)

Vector3f	pv_location_to_vector (const Location &loc)

float	pv_alt_above_origin (float alt_above_home_cm)

float	pv_alt_above_home (float alt_above_origin_cm)

float	pv_distance_to_home_cm (const Vector3f &destination)

void	init_precland ()

void	update_precland ()

void	default_dead_zones ()

void	init_rc_in ()

void	init_rc_out ()

void	enable_motor_output ()

void	read_radio ()

void	set_throttle_and_failsafe (uint16_t throttle_pwm)

void	set_throttle_zero_flag (int16_t throttle_control)

void	radio_passthrough_to_motors ()

int16_t	get_throttle_mid (void)

void	read_barometer (void)

void	init_rangefinder (void)

void	read_rangefinder (void)

bool	rangefinder_alt_ok ()

void	rpm_update ()

void	init_compass ()

void	compass_accumulate (void)

void	init_optflow ()

void	update_optical_flow (void)

void	compass_cal_update (void)

void	accel_cal_update (void)

void	init_proximity ()

void	update_proximity ()

void	update_sensor_status_flags (void)

void	init_visual_odom ()

void	update_visual_odom ()

void	winch_init ()

void	winch_update ()

void	report_compass ()

void	print_blanks (int16_t num)

void	print_divider (void)

void	print_enabled (bool b)

void	report_version ()

void	read_control_switch ()

bool	check_if_auxsw_mode_used (uint8_t auxsw_mode_check)

bool	check_duplicate_auxsw (void)

void	reset_control_switch ()

uint8_t	read_3pos_switch (uint8_t chan)

void	read_aux_switches ()

void	init_aux_switches ()

void	init_aux_switch_function (int8_t ch_option, uint8_t ch_flag)

void	do_aux_switch_function (int8_t ch_function, uint8_t ch_flag)

bool	debounce_aux_switch (uint8_t chan, uint8_t ch_flag)

void	save_trim ()

void	auto_trim ()

void	init_ardupilot ()

void	startup_INS_ground ()

bool	position_ok ()

bool	ekf_position_ok ()

bool	optflow_position_ok ()

void	update_auto_armed ()

void	check_usb_mux (void)

bool	should_log (uint32_t mask)

void	set_default_frame_class ()

MAV_TYPE	get_frame_mav_type ()

const char *	get_frame_string ()

void	allocate_motors (void)

bool	current_mode_has_user_takeoff (bool must_navigate)

bool	do_user_takeoff (float takeoff_alt_cm, bool must_navigate)

void	takeoff_timer_start (float alt_cm)

void	takeoff_stop ()

void	takeoff_get_climb_rates (float &pilot_climb_rate, float &takeoff_climb_rate)

void	auto_takeoff_set_start_alt (void)

void	auto_takeoff_attitude_run (float target_yaw_rate)

void	terrain_update ()

void	terrain_logging ()

bool	terrain_use ()

void	tuning ()

void	userhook_init ()

void	userhook_FastLoop ()

void	userhook_50Hz ()

void	userhook_MediumLoop ()

void	userhook_SlowLoop ()

void	userhook_SuperSlowLoop ()

Mode *	mode_from_mode_num (const uint8_t mode)

void	exit_mode (Mode &old_flightmode, Mode &new_flightmode)

Private Attributes
AP_Vehicle::MultiCopter	aparm

Parameters	g

ParametersG2	g2

AP_Scheduler	scheduler {FUNCTOR_BIND_MEMBER(&Copter::fast_loop, void)}

AP_Notify	notify

uint8_t	command_ack_counter

RC_Channel *	channel_roll

RC_Channel *	channel_pitch

RC_Channel *	channel_throttle

RC_Channel *	channel_yaw

DataFlash_Class	DataFlash

AP_GPS	gps

AP_Int8 *	flight_modes

AP_Baro	barometer

Compass	compass

AP_InertialSensor	ins

RangeFinder	rangefinder {serial_manager, ROTATION_PITCH_270}

struct {
bool enabled:1

bool alt_healthy:1

int16_t alt_cm

uint32_t last_healthy_ms

LowPassFilterFloat alt_cm_filt

int8_t glitch_count

}	rangefinder_state = { false, false, 0, 0 }

AP_RPM	rpm_sensor

NavEKF2	EKF2 {&ahrs, rangefinder}

NavEKF3	EKF3 {&ahrs, rangefinder}

AP_AHRS_NavEKF	ahrs {EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF}

SITL::SITL	sitl

AP_Mission	mission

AP_Arming_Copter	arming {ahrs, compass, battery, inertial_nav}

OpticalFlow	optflow {ahrs}

float	ekfGndSpdLimit

float	ekfNavVelGainScaler

uint32_t	ekfYawReset_ms

int8_t	ekf_primary_core

AP_SerialManager	serial_manager

GCS_Copter	_gcs

ap_t	ap

control_mode_t	control_mode

mode_reason_t	control_mode_reason = MODE_REASON_UNKNOWN

control_mode_t	prev_control_mode

mode_reason_t	prev_control_mode_reason = MODE_REASON_UNKNOWN

struct {
int8_t debounced_switch_position

int8_t last_switch_position

uint32_t last_edge_time_ms

}	control_switch_state

struct Copter::debounce	aux_debounce [(CH_12 - CH_7)+1]

takeoff_state_t	takeoff_state

float	auto_takeoff_no_nav_alt_cm

RCMapper	rcmap

float	arming_altitude_m

AP_BoardConfig	BoardConfig

struct {
uint32_t last_heartbeat_ms

uint32_t terrain_first_failure_ms

uint32_t terrain_last_failure_ms

int8_t radio_counter

uint8_t rc_override_active: 1

uint8_t radio: 1

uint8_t gcs: 1

uint8_t ekf: 1

uint8_t terrain: 1

uint8_t adsb: 1

}	failsafe

struct {
uint8_t baro: 1

uint8_t compass: 1

uint8_t primary_gps: 2

}	sensor_health

MOTOR_CLASS *	motors

const struct AP_Param::GroupInfo *	motors_var_info

float	scaleLongDown

int32_t	_home_bearing

uint32_t	_home_distance

float	simple_cos_yaw

float	simple_sin_yaw

int32_t	super_simple_last_bearing

float	super_simple_cos_yaw

float	super_simple_sin_yaw

int32_t	initial_armed_bearing

AP_BattMonitor	battery

AP_Frsky_Telem	frsky_telemetry {ahrs, battery, rangefinder}

AP_DEVO_Telem	devo_telemetry {ahrs}

uint32_t	control_sensors_present

uint32_t	control_sensors_enabled

uint32_t	control_sensors_health

int16_t	climb_rate

float	target_rangefinder_alt

int32_t	baro_alt

float	baro_climbrate

LowPassFilterVector3f	land_accel_ef_filter

LowPassFilterFloat	rc_throttle_control_in_filter

Location_Class	current_loc

float	G_Dt

AP_InertialNav_NavEKF	inertial_nav

AC_AttitudeControl_t *	attitude_control

AC_PosControl *	pos_control

AC_WPNav *	wp_nav

AC_Loiter *	loiter_nav

AC_Circle *	circle_nav

uint32_t	arm_time_ms

uint8_t	auto_trim_counter

AP_Relay	relay

AP_ServoRelayEvents	ServoRelayEvents {relay}

AP_Camera	camera {&relay, MASK_LOG_CAMERA, current_loc, ahrs}

AP_Mount	camera_mount {ahrs, current_loc}

AC_Fence	fence {ahrs}

AC_Avoid	avoid {ahrs, fence, g2.proximity, &g2.beacon}

AP_Rally_Copter	rally {ahrs}

AP_RSSI	rssi

AC_Sprayer	sprayer

AP_Parachute	parachute {relay}

AP_LandingGear	landinggear

AC_PrecLand	precland {ahrs}

AP_ADSB	adsb

AP_Avoidance_Copter	avoidance_adsb {ahrs, adsb}

uint32_t	last_radio_update_ms

uint32_t	esc_calibration_notify_update_ms

uint32_t	visual_odom_last_update_ms

AP_Param	param_loader

struct {
bool takeoff_expected

bool touchdown_expected

uint32_t takeoff_time_ms

float takeoff_alt_cm

}	gndeffect_state

bool	upgrading_frame_params

Mode *	flightmode

ModeAcro	mode_acro

ModeAltHold	mode_althold

ModeAuto	mode_auto

ModeAutoTune	mode_autotune

ModeBrake	mode_brake

ModeCircle	mode_circle

ModeDrift	mode_drift

ModeFlip	mode_flip

ModeFollow	mode_follow

ModeGuided	mode_guided

ModeLand	mode_land

ModeLoiter	mode_loiter

ModePosHold	mode_poshold

ModeRTL	mode_rtl

ModeStabilize	mode_stabilize

ModeSport	mode_sport

ModeAvoidADSB	mode_avoid_adsb

ModeThrow	mode_throw

ModeGuidedNoGPS	mode_guided_nogps

ModeSmartRTL	mode_smartrtl

ModeFlowHold	mode_flowhold

Static Private Attributes
static const AP_FWVersion	fwver

static const AP_Scheduler::Task	scheduler_tasks []

static const AP_Param::Info	var_info []

static const struct LogStructure	log_structure []

static constexpr int8_t	_failsafe_priorities []

Friends
class	GCS_MAVLINK_Copter

class	GCS_Copter

class	AP_Rally_Copter

class	Parameters

class	ParametersG2

class	AP_Avoidance_Copter

class	AP_Arming_Copter

class	ToyMode

Detailed Description

Definition at line 180 of file Copter.h.

Member Enumeration Documentation

◆ Failsafe_Action

enum Copter::Failsafe_Action

private

Enumerator
Failsafe_Action_None
Failsafe_Action_Land
Failsafe_Action_RTL
Failsafe_Action_SmartRTL
Failsafe_Action_SmartRTL_Land
Failsafe_Action_Terminate

Definition at line 629 of file Copter.h.

Constructor & Destructor Documentation

◆ Copter()

Copter::Copter ( void )

Definition at line 26 of file Copter.cpp.

Member Function Documentation

◆ accel_cal_update()

void Copter::accel_cal_update ( void )

private

Definition at line 193 of file sensors.cpp.

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◆ allocate_motors()

void Copter::allocate_motors ( void )

private

Definition at line 524 of file system.cpp.

Referenced by init_ardupilot().

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◆ any_failsafe_triggered()

bool Copter::any_failsafe_triggered ( ) const

inlineprivate

Definition at line 404 of file Copter.h.

◆ arm_motors_check()

void Copter::arm_motors_check ( )

private

Definition at line 12 of file motors.cpp.

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◆ auto_disarm_check()

void Copter::auto_disarm_check ( )

private

Definition at line 78 of file motors.cpp.

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◆ auto_takeoff_attitude_run()

void Copter::auto_takeoff_attitude_run ( float target_yaw_rate )

private

Definition at line 165 of file takeoff.cpp.

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◆ auto_takeoff_set_start_alt()

void Copter::auto_takeoff_set_start_alt ( void )

private

Definition at line 149 of file takeoff.cpp.

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◆ auto_trim()

void Copter::auto_trim ( )

private

Definition at line 749 of file switches.cpp.

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◆ avoidance_adsb_update()

void Copter::avoidance_adsb_update ( void )

private

Definition at line 5 of file avoidance_adsb.cpp.

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◆ check_duplicate_auxsw()

bool Copter::check_duplicate_auxsw ( void )

private

Definition at line 88 of file switches.cpp.

◆ check_dynamic_flight()

void Copter::check_dynamic_flight ( void )

private

◆ check_ekf_reset()

void Copter::check_ekf_reset ( )

private

Definition at line 180 of file ekf_check.cpp.

Referenced by fast_loop().

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◆ check_if_auxsw_mode_used()

bool Copter::check_if_auxsw_mode_used ( uint8_t auxsw_mode_check )

private

Definition at line 79 of file switches.cpp.

Referenced by lost_vehicle_check(), and update_using_interlock().

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◆ check_usb_mux()

void Copter::check_usb_mux ( void )

private

Definition at line 421 of file system.cpp.

Referenced by init_ardupilot(), mavlink_delay_cb(), and one_hz_loop().

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◆ compass_accumulate()

void Copter::compass_accumulate ( void )

private

Definition at line 109 of file sensors.cpp.

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◆ compass_cal_update()

void Copter::compass_cal_update ( void )

private

Definition at line 165 of file sensors.cpp.

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◆ convert_pid_parameters()

void Copter::convert_pid_parameters ( void )

private

Definition at line 1088 of file Parameters.cpp.

Referenced by allocate_motors().

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◆ crash_check()

void Copter::crash_check ( )

private

Definition at line 11 of file crash_check.cpp.

Referenced by update_land_and_crash_detectors().

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◆ current_mode_has_user_takeoff()

bool Copter::current_mode_has_user_takeoff ( bool must_navigate )

private

Definition at line 10 of file takeoff.cpp.

Referenced by do_user_takeoff().

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◆ debounce_aux_switch()

bool Copter::debounce_aux_switch	(	uint8_t	chan,
		uint8_t	ch_flag
	)

private

Definition at line 216 of file switches.cpp.

◆ default_dead_zones()

void Copter::default_dead_zones ( )

private

Definition at line 7 of file radio.cpp.

Referenced by init_rc_in().

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◆ delay()

void Copter::delay ( uint32_t ms )

private

Definition at line 3 of file compat.cpp.

Referenced by esc_calibration_auto(), esc_calibration_passthrough(), esc_calibration_startup_check(), and init_ardupilot().

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◆ do_aux_switch_function()

void Copter::do_aux_switch_function	(	int8_t	ch_function,
		uint8_t	ch_flag
	)

private

Definition at line 239 of file switches.cpp.

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◆ do_user_takeoff()

bool Copter::do_user_takeoff	(	float	takeoff_alt_cm,
		bool	must_navigate
	)

private

Definition at line 27 of file takeoff.cpp.

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◆ ekf_check()

void Copter::ekf_check ( )

private

Definition at line 29 of file ekf_check.cpp.

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◆ ekf_over_threshold()

bool Copter::ekf_over_threshold ( )

private

Definition at line 90 of file ekf_check.cpp.

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◆ ekf_position_ok()

bool Copter::ekf_position_ok ( )

private

Definition at line 324 of file system.cpp.

Referenced by position_ok().

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◆ enable_motor_output()

void Copter::enable_motor_output ( )

private

Definition at line 88 of file radio.cpp.

Referenced by init_ardupilot(), init_arm_motors(), mavlink_compassmot(), and mavlink_motor_test_start().

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◆ esc_calibration_auto()

void Copter::esc_calibration_auto ( )

private

Definition at line 132 of file esc_calibration.cpp.

Referenced by esc_calibration_startup_check().

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◆ esc_calibration_notify()

void Copter::esc_calibration_notify ( )

private

Definition at line 199 of file esc_calibration.cpp.

Referenced by esc_calibration_auto(), and esc_calibration_passthrough().

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◆ esc_calibration_passthrough()

void Copter::esc_calibration_passthrough ( )

private

Definition at line 87 of file esc_calibration.cpp.

Referenced by esc_calibration_startup_check().

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◆ esc_calibration_startup_check()

void Copter::esc_calibration_startup_check ( )

private

Definition at line 19 of file esc_calibration.cpp.

Referenced by init_rc_out().

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◆ exit_mission()

void Copter::exit_mission ( )

inlineprivate

Definition at line 274 of file Copter.h.

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◆ exit_mode()

void Copter::exit_mode	(	Copter::Mode *&	old_flightmode,
		Copter::Mode *&	new_flightmode
	)

private

Definition at line 254 of file mode.cpp.

Referenced by set_mode().

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◆ failsafe_check()

void Copter::failsafe_check ( )

Definition at line 35 of file failsafe.cpp.

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◆ failsafe_disable()

void Copter::failsafe_disable ( )

private

Definition at line 27 of file failsafe.cpp.

Referenced by init_arm_motors(), and mavlink_compassmot().

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◆ failsafe_ekf_event()

void Copter::failsafe_ekf_event ( )

private

Definition at line 128 of file ekf_check.cpp.

◆ failsafe_ekf_off_event()

void Copter::failsafe_ekf_off_event ( void )

private

Definition at line 167 of file ekf_check.cpp.

◆ failsafe_enable()

void Copter::failsafe_enable ( )

private

Definition at line 18 of file failsafe.cpp.

Referenced by init_ardupilot(), init_arm_motors(), and mavlink_compassmot().

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◆ failsafe_gcs_check()

void Copter::failsafe_gcs_check ( )

private

Definition at line 87 of file events.cpp.

Referenced by three_hz_loop().

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◆ failsafe_gcs_off_event()

void Copter::failsafe_gcs_off_event ( void )

private

Definition at line 141 of file events.cpp.

Referenced by failsafe_gcs_check().

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◆ failsafe_radio_off_event()

void Copter::failsafe_radio_off_event ( )

private

Definition at line 44 of file events.cpp.

Referenced by set_failsafe_radio().

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◆ failsafe_radio_on_event()

void Copter::failsafe_radio_on_event ( )

private

Definition at line 7 of file events.cpp.

Referenced by set_failsafe_radio().

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◆ failsafe_terrain_check()

void Copter::failsafe_terrain_check ( )

private

Definition at line 149 of file events.cpp.

Referenced by three_hz_loop().

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◆ failsafe_terrain_on_event()

void Copter::failsafe_terrain_on_event ( )

private

Definition at line 188 of file events.cpp.

Referenced by failsafe_terrain_check().

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◆ failsafe_terrain_set_status()

void Copter::failsafe_terrain_set_status ( bool data_ok )

private

Definition at line 168 of file events.cpp.

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◆ far_from_EKF_origin()

bool Copter::far_from_EKF_origin ( const Location & loc )

private

Definition at line 116 of file commands.cpp.

Referenced by set_home().

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◆ fast_loop()

void Copter::fast_loop ( )

private

Definition at line 219 of file ArduCopter.cpp.

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◆ fence_check()

void Copter::fence_check ( )

private

Definition at line 9 of file fence.cpp.

Referenced by three_hz_loop().

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◆ fence_send_mavlink_status()

void Copter::fence_send_mavlink_status ( mavlink_channel_t chan )

private

Definition at line 54 of file fence.cpp.

Referenced by send_fence_status().

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◆ fourhundred_hz_logging()

void Copter::fourhundred_hz_logging ( )

private

Definition at line 318 of file ArduCopter.cpp.

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◆ gcs()

GCS_Copter& Copter::gcs ( )

inlineprivate

Definition at line 301 of file Copter.h.

Referenced by crash_check(), esc_calibration_auto(), esc_calibration_passthrough(), esc_calibration_startup_check(), failsafe_terrain_on_event(), gcs_check_input(), gcs_data_stream_send(), gcs_send_deferred(), gcs_send_heartbeat(), gpsglitch_check(), init_ardupilot(), init_arm_motors(), init_disarm_motors(), lost_vehicle_check(), mavlink_compassmot(), mavlink_delay_cb(), mavlink_motor_test_check(), mavlink_motor_test_start(), motor_test_stop(), parachute_manual_release(), parachute_release(), set_home(), set_mode_SmartRTL_or_land_with_pause(), set_mode_SmartRTL_or_RTL(), set_simple_mode(), GCS_MAVLINK_Copter::try_send_message(), and twentyfive_hz_logging().

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◆ gcs_check_input()

void Copter::gcs_check_input ( void )

private

Definition at line 1628 of file GCS_Mavlink.cpp.

Referenced by mavlink_delay_cb(), and read_AHRS().

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◆ gcs_data_stream_send()

void Copter::gcs_data_stream_send ( void )

private

Definition at line 1620 of file GCS_Mavlink.cpp.

Referenced by mavlink_delay_cb().

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◆ gcs_send_deferred()

void Copter::gcs_send_deferred ( void )

private

Definition at line 10 of file GCS_Mavlink.cpp.

Referenced by mavlink_delay_cb().

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◆ gcs_send_heartbeat()

void Copter::gcs_send_heartbeat ( void )

private

Definition at line 5 of file GCS_Mavlink.cpp.

Referenced by mavlink_delay_cb().

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◆ get_avoidance_adjusted_climbrate()

float Copter::get_avoidance_adjusted_climbrate ( float target_rate )

private

Definition at line 223 of file Attitude.cpp.

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◆ get_frame_mav_type()

MAV_TYPE Copter::get_frame_mav_type ( )

private

Definition at line 456 of file system.cpp.

Referenced by init_ardupilot().

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◆ get_frame_string()

const char * Copter::get_frame_string ( )

private

Definition at line 486 of file system.cpp.

Referenced by init_ardupilot().

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◆ get_non_takeoff_throttle()

float Copter::get_non_takeoff_throttle ( )

private

Definition at line 156 of file Attitude.cpp.

Referenced by update_land_detector().

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◆ get_pilot_desired_climb_rate()

float Copter::get_pilot_desired_climb_rate ( float throttle_control )

private

Definition at line 114 of file Attitude.cpp.

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◆ get_pilot_desired_throttle()

float Copter::get_pilot_desired_throttle	(	int16_t	throttle_control,
		float	thr_mid = `0.0f`
	)

private

Definition at line 78 of file Attitude.cpp.

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◆ get_pilot_desired_yaw_rate()

float Copter::get_pilot_desired_yaw_rate ( int16_t stick_angle )

private

Definition at line 6 of file Attitude.cpp.

◆ get_pilot_speed_dn()

uint16_t Copter::get_pilot_speed_dn ( )

private

Definition at line 252 of file Attitude.cpp.

Referenced by get_pilot_desired_climb_rate().

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◆ get_surface_tracking_climb_rate()

float Copter::get_surface_tracking_climb_rate	(	int16_t	target_rate,
		float	current_alt_target,
		float	dt
	)

private

Definition at line 163 of file Attitude.cpp.

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◆ get_throttle_mid()

int16_t Copter::get_throttle_mid ( void )

private

Definition at line 203 of file radio.cpp.

Referenced by auto_disarm_check(), get_pilot_desired_climb_rate(), and get_pilot_desired_throttle().

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◆ gpsglitch_check()

void Copter::gpsglitch_check ( )

private

Definition at line 206 of file events.cpp.

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◆ handle_battery_failsafe()

void Copter::handle_battery_failsafe	(	const char *	type_str,
		const int8_t	action
	)

private

Definition at line 51 of file events.cpp.

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◆ heli_init()

void Copter::heli_init ( )

private

Referenced by init_ardupilot().

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◆ heli_update_landing_swash()

void Copter::heli_update_landing_swash ( )

private

Referenced by throttle_loop().

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◆ heli_update_rotor_speed_targets()

void Copter::heli_update_rotor_speed_targets ( )

private

Referenced by throttle_loop().

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◆ home_bearing()

int32_t Copter::home_bearing ( )

private

Definition at line 25 of file navigation.cpp.

Referenced by update_super_simple_bearing().

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◆ home_distance()

uint32_t Copter::home_distance ( )

private

Definition at line 14 of file navigation.cpp.

Referenced by update_super_simple_bearing().

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◆ init_ardupilot()

void Copter::init_ardupilot ( )

private

Definition at line 21 of file system.cpp.

Referenced by setup().

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◆ init_arm_motors()

bool Copter::init_arm_motors ( bool arming_from_gcs )

private

Definition at line 130 of file motors.cpp.

Referenced by arm_motors_check().

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◆ init_aux_switch_function()

void Copter::init_aux_switch_function	(	int8_t	ch_option,
		uint8_t	ch_flag
	)

private

Definition at line 182 of file switches.cpp.

◆ init_aux_switches()

void Copter::init_aux_switches ( )

private

Definition at line 158 of file switches.cpp.

Referenced by init_ardupilot().

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◆ init_capabilities()

void Copter::init_capabilities ( void )

private

Definition at line 3 of file capabilities.cpp.

Referenced by init_ardupilot().

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◆ init_compass()

void Copter::init_compass ( )

private

Definition at line 90 of file sensors.cpp.

Referenced by init_ardupilot(), and mavlink_compassmot().

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◆ init_disarm_motors()

void Copter::init_disarm_motors ( )

private

Definition at line 241 of file motors.cpp.

Referenced by arm_motors_check(), auto_disarm_check(), crash_check(), failsafe_gcs_check(), failsafe_radio_on_event(), failsafe_terrain_on_event(), fence_check(), handle_battery_failsafe(), parachute_release(), and set_land_complete().

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◆ init_optflow()

void Copter::init_optflow ( )

private

Definition at line 128 of file sensors.cpp.

Referenced by init_ardupilot().

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◆ init_precland()

void Copter::init_precland ( )

private

Definition at line 9 of file precision_landing.cpp.

Referenced by init_ardupilot().

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◆ init_proximity()

void Copter::init_proximity ( void )

private

Definition at line 214 of file sensors.cpp.

Referenced by init_ardupilot().

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◆ init_rangefinder()

void Copter::init_rangefinder ( void )

private

Definition at line 14 of file sensors.cpp.

Referenced by init_ardupilot().

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◆ init_rc_in()

void Copter::init_rc_in ( )

private

Definition at line 22 of file radio.cpp.

Referenced by init_ardupilot().

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◆ init_rc_out()

void Copter::init_rc_out ( )

private

Definition at line 52 of file radio.cpp.

Referenced by init_ardupilot(), mavlink_compassmot(), and mavlink_motor_test_start().

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◆ init_simple_bearing()

void Copter::init_simple_bearing ( )

private

Definition at line 485 of file ArduCopter.cpp.

Referenced by init_arm_motors().

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◆ init_visual_odom()

void Copter::init_visual_odom ( )

private

Definition at line 425 of file sensors.cpp.

Referenced by init_ardupilot().

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◆ landing_with_GPS()

bool Copter::landing_with_GPS ( )

private

Definition at line 162 of file mode_land.cpp.

Referenced by ten_hz_logging_loop().

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◆ landinggear_update()

void Copter::landinggear_update ( )

private

Definition at line 5 of file landing_gear.cpp.

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◆ load_parameters()

void Copter::load_parameters ( void )

private

Definition at line 1053 of file Parameters.cpp.

Referenced by init_ardupilot().

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◆ log_init()

void Copter::log_init ( void )

private

Definition at line 537 of file Log.cpp.

Referenced by init_ardupilot().

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◆ Log_Sensor_Health()

void Copter::Log_Sensor_Health ( )

private

Definition at line 365 of file Log.cpp.

Referenced by fast_loop(), and log_init().

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◆ Log_Write_Attitude()

void Copter::Log_Write_Attitude ( )

private

Definition at line 143 of file Log.cpp.

Referenced by fourhundred_hz_logging(), log_init(), and ten_hz_logging_loop().

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◆ Log_Write_Control_Tuning()

void Copter::Log_Write_Control_Tuning ( )

private

Definition at line 113 of file Log.cpp.

Referenced by log_init(), and update_altitude().

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◆ Log_Write_Data() [1/5]

void Copter::Log_Write_Data	(	uint8_t	id,
		int32_t	value
	)

private

Definition at line 264 of file Log.cpp.

Referenced by init_simple_bearing(), log_init(), and one_hz_loop().

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◆ Log_Write_Data() [2/5]

void Copter::Log_Write_Data	(	uint8_t	id,
		uint32_t	value
	)

private

Definition at line 285 of file Log.cpp.

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◆ Log_Write_Data() [3/5]

UNUSED_FUNCTION void Copter::Log_Write_Data	(	uint8_t	id,
		int16_t	value
	)

private

Definition at line 221 of file Log.cpp.

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◆ Log_Write_Data() [4/5]

UNUSED_FUNCTION void Copter::Log_Write_Data	(	uint8_t	id,
		uint16_t	value
	)

private

Definition at line 243 of file Log.cpp.

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◆ Log_Write_Data() [5/5]

UNUSED_FUNCTION void Copter::Log_Write_Data	(	uint8_t	id,
		float	value
	)

private

Definition at line 307 of file Log.cpp.

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◆ Log_Write_EKF_POS()

void Copter::Log_Write_EKF_POS ( )

private

Definition at line 158 of file Log.cpp.

Referenced by log_init(), ten_hz_logging_loop(), and twentyfive_hz_logging().

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◆ Log_Write_Error()

void Copter::Log_Write_Error	(	uint8_t	sub_system,
		uint8_t	error_code
	)

private

Definition at line 328 of file Log.cpp.

Referenced by crash_check(), failsafe_check(), failsafe_gcs_check(), failsafe_gcs_off_event(), failsafe_radio_off_event(), failsafe_radio_on_event(), failsafe_terrain_check(), failsafe_terrain_on_event(), fence_check(), gpsglitch_check(), handle_battery_failsafe(), init_compass(), log_init(), parachute_check(), parachute_manual_release(), read_radio(), and set_mode().

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◆ Log_Write_Event()

void Copter::Log_Write_Event ( uint8_t id )

private

Definition at line 200 of file Log.cpp.

Referenced by init_arm_motors(), init_disarm_motors(), landinggear_update(), log_init(), motors_output(), parachute_release(), set_auto_armed(), set_home(), set_land_complete(), set_land_complete_maybe(), set_motor_emergency_stop(), set_simple_mode(), and set_system_time_from_GPS().

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◆ Log_Write_GuidedTarget()

void Copter::Log_Write_GuidedTarget	(	uint8_t	target_type,
		const Vector3f &	pos_target,
		const Vector3f &	vel_target
	)

private

Definition at line 461 of file Log.cpp.

Referenced by log_init().

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◆ Log_Write_MotBatt()

void Copter::Log_Write_MotBatt ( )

private

Definition at line 178 of file Log.cpp.

Referenced by log_init(), and ten_hz_logging_loop().

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◆ Log_Write_Optflow()

void Copter::Log_Write_Optflow ( )

private

Definition at line 73 of file Log.cpp.

Referenced by log_init(), and update_optical_flow().

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◆ Log_Write_Parameter_Tuning()

void Copter::Log_Write_Parameter_Tuning	(	uint8_t	param,
		float	tuning_val,
		int16_t	control_in,
		int16_t	tune_low,
		int16_t	tune_high
	)

private

Definition at line 349 of file Log.cpp.

Referenced by log_init(), and tuning().

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◆ Log_Write_Performance()

void Copter::Log_Write_Performance ( )

private

Referenced by log_init().

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◆ Log_Write_Precland()

void Copter::Log_Write_Precland ( )

private

Definition at line 420 of file Log.cpp.

Referenced by log_init(), and twentyfive_hz_logging().

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◆ Log_Write_Vehicle_Startup_Messages()

void Copter::Log_Write_Vehicle_Startup_Messages ( )

private

Definition at line 524 of file Log.cpp.

Referenced by init_ardupilot(), and log_init().

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◆ loop()

void Copter::loop ( )

overridevirtual

Implements AP_HAL::HAL::Callbacks.

Definition at line 211 of file ArduCopter.cpp.

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◆ lost_vehicle_check()

void Copter::lost_vehicle_check ( )

private

Definition at line 340 of file motors.cpp.

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◆ mavlink_compassmot()

MAV_RESULT Copter::mavlink_compassmot ( mavlink_channel_t chan )

private

Definition at line 8 of file compassmot.cpp.

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◆ mavlink_delay_cb()

void Copter::mavlink_delay_cb ( )

Definition at line 1588 of file GCS_Mavlink.cpp.

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◆ mavlink_motor_test_check()

bool Copter::mavlink_motor_test_check	(	mavlink_channel_t	chan,
		bool	check_rc
	)

private

Definition at line 95 of file motor_test.cpp.

Referenced by mavlink_motor_test_start().

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◆ mavlink_motor_test_start()

MAV_RESULT Copter::mavlink_motor_test_start	(	mavlink_channel_t	chan,
		uint8_t	motor_seq,
		uint8_t	throttle_type,
		uint16_t	throttle_value,
		float	timeout_sec,
		uint8_t	motor_count
	)

private

Definition at line 129 of file motor_test.cpp.

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◆ mode_from_mode_num()

Copter::Mode * Copter::mode_from_mode_num ( const uint8_t mode )

private

Definition at line 36 of file mode.cpp.

Referenced by set_mode().

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◆ motor_test_output()

void Copter::motor_test_output ( )

private

Definition at line 21 of file motor_test.cpp.

Referenced by motors_output().

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◆ motor_test_stop()

void Copter::motor_test_stop ( )

private

Definition at line 185 of file motor_test.cpp.

Referenced by motor_test_output().

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◆ motors_output()

void Copter::motors_output ( )

private

Definition at line 292 of file motors.cpp.

Referenced by fast_loop().

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◆ notify_flight_mode()

void Copter::notify_flight_mode ( )

private

Definition at line 312 of file mode.cpp.

Referenced by init_ardupilot(), and set_mode().

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◆ one_hz_loop()

void Copter::one_hz_loop ( )

private

Definition at line 416 of file ArduCopter.cpp.

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◆ optflow_position_ok()

bool Copter::optflow_position_ok ( )

private

Definition at line 344 of file system.cpp.

Referenced by position_ok(), and update_ground_effect_detector().

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◆ parachute_check()

void Copter::parachute_check ( )

private

Definition at line 63 of file crash_check.cpp.

Referenced by update_land_and_crash_detectors().

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◆ parachute_manual_release()

void Copter::parachute_manual_release ( )

private

Definition at line 154 of file crash_check.cpp.

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◆ parachute_release()

void Copter::parachute_release ( )

private

Definition at line 136 of file crash_check.cpp.

Referenced by parachute_check(), and parachute_manual_release().

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◆ position_ok()

bool Copter::position_ok ( )

private

Definition at line 312 of file system.cpp.

Referenced by home_bearing(), home_distance(), init_arm_motors(), and update_ground_effect_detector().

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◆ print_blanks()

void Copter::print_blanks ( int16_t num )

private

Definition at line 51 of file setup.cpp.

Referenced by report_compass(), and report_version().

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◆ print_divider()

void Copter::print_divider ( void )

private

Definition at line 59 of file setup.cpp.

Referenced by report_compass(), and report_version().

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◆ print_enabled()

void Copter::print_enabled ( bool b )

private

Definition at line 67 of file setup.cpp.

Referenced by report_compass().

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◆ pv_alt_above_home()

float Copter::pv_alt_above_home ( float alt_above_origin_cm )

private

Definition at line 26 of file position_vector.cpp.

Referenced by read_inertia().

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◆ pv_alt_above_origin()

float Copter::pv_alt_above_origin ( float alt_above_home_cm )

private

Definition at line 19 of file position_vector.cpp.

Referenced by pv_location_to_vector().

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◆ pv_distance_to_home_cm()

float Copter::pv_distance_to_home_cm ( const Vector3f & destination )

private

Definition at line 33 of file position_vector.cpp.

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◆ pv_location_to_vector()

Vector3f Copter::pv_location_to_vector ( const Location & loc )

private

Definition at line 11 of file position_vector.cpp.

Referenced by home_bearing(), home_distance(), and pv_distance_to_home_cm().

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◆ radio_passthrough_to_motors()

void Copter::radio_passthrough_to_motors ( )

private

Definition at line 192 of file radio.cpp.

Referenced by read_radio().

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◆ rangefinder_alt_ok()

bool Copter::rangefinder_alt_ok ( )

private

Definition at line 69 of file sensors.cpp.

Referenced by update_land_detector(), and update_precland().

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◆ rc_loop()

void Copter::rc_loop ( )

private

Definition at line 267 of file ArduCopter.cpp.

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◆ read_3pos_switch()

uint8_t Copter::read_3pos_switch ( uint8_t chan )

private

Definition at line 116 of file switches.cpp.

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◆ read_AHRS()

void Copter::read_AHRS ( void )

private

Definition at line 556 of file ArduCopter.cpp.

Referenced by fast_loop().

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◆ read_aux_switches()

void Copter::read_aux_switches ( )

private

Definition at line 135 of file switches.cpp.

◆ read_barometer()

void Copter::read_barometer ( void )

private

Definition at line 4 of file sensors.cpp.

Referenced by update_altitude().

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◆ read_control_switch()

void Copter::read_control_switch ( )

private

Definition at line 16 of file switches.cpp.

Referenced by rc_loop().

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◆ read_inertia()

void Copter::read_inertia ( )

private

Definition at line 4 of file inertia.cpp.

Referenced by fast_loop().

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◆ read_radio()

void Copter::read_radio ( )

private

Definition at line 94 of file radio.cpp.

Referenced by esc_calibration_passthrough(), esc_calibration_startup_check(), mavlink_compassmot(), and rc_loop().

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◆ read_rangefinder()

void Copter::read_rangefinder ( void )

private

Definition at line 24 of file sensors.cpp.

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◆ report_compass()

void Copter::report_compass ( )

private

Definition at line 4 of file setup.cpp.

Referenced by mavlink_compassmot().

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◆ report_version()

void Copter::report_version ( )

private

Definition at line 76 of file setup.cpp.

Referenced by init_ardupilot().

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◆ reset_control_switch()

void Copter::reset_control_switch ( )

private

Definition at line 109 of file switches.cpp.

Referenced by init_ardupilot().

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◆ rotate_body_frame_to_NE()

void Copter::rotate_body_frame_to_NE	(	float &	x,
		float &	y
	)

private

Definition at line 243 of file Attitude.cpp.

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◆ rpm_update()

void Copter::rpm_update ( void )

private

Definition at line 77 of file sensors.cpp.

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◆ run_nav_updates()

void Copter::run_nav_updates ( void )

private

Definition at line 6 of file navigation.cpp.

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◆ save_trim()

void Copter::save_trim ( void )

private

Definition at line 737 of file switches.cpp.

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◆ send_extended_status1()

NOINLINE void Copter::send_extended_status1 ( mavlink_channel_t chan )

private

Definition at line 133 of file GCS_Mavlink.cpp.

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◆ send_fence_status()

NOINLINE void Copter::send_fence_status ( mavlink_channel_t chan )

private

Definition at line 126 of file GCS_Mavlink.cpp.

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◆ send_nav_controller_output()

void NOINLINE Copter::send_nav_controller_output ( mavlink_channel_t chan )

private

Definition at line 159 of file GCS_Mavlink.cpp.

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◆ send_pid_tuning()

void Copter::send_pid_tuning ( mavlink_channel_t chan )

private

Definition at line 198 of file GCS_Mavlink.cpp.

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◆ send_rpm()

void NOINLINE Copter::send_rpm ( mavlink_channel_t chan )

private

Definition at line 182 of file GCS_Mavlink.cpp.

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◆ set_accel_throttle_I_from_pilot_throttle()

void Copter::set_accel_throttle_I_from_pilot_throttle ( )

private

Definition at line 234 of file Attitude.cpp.

Referenced by exit_mode().

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◆ set_auto_armed()

void Copter::set_auto_armed ( bool b )

private

Definition at line 4 of file AP_State.cpp.

Referenced by do_user_takeoff(), and update_auto_armed().

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◆ set_default_frame_class()

void Copter::set_default_frame_class ( )

private

Definition at line 446 of file system.cpp.

Referenced by init_ardupilot().

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◆ set_failsafe_gcs()

void Copter::set_failsafe_gcs ( bool b )

private

Definition at line 74 of file AP_State.cpp.

Referenced by failsafe_gcs_check().

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◆ set_failsafe_radio()

void Copter::set_failsafe_radio ( bool b )

private

Definition at line 47 of file AP_State.cpp.

Referenced by read_radio(), and set_throttle_and_failsafe().

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◆ set_home()

bool Copter::set_home	(	const Location &	loc,
		bool	lock
	)

private

Definition at line 57 of file commands.cpp.

Referenced by set_home_to_current_location(), and set_home_to_current_location_inflight().

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◆ set_home_to_current_location()

bool Copter::set_home_to_current_location ( bool lock )

private

Definition at line 38 of file commands.cpp.

Referenced by init_arm_motors(), and update_home_from_EKF().

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◆ set_home_to_current_location_inflight()

void Copter::set_home_to_current_location_inflight ( )

private

Definition at line 21 of file commands.cpp.

Referenced by update_home_from_EKF().

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◆ set_land_complete()

void Copter::set_land_complete ( bool b )

private

Definition at line 92 of file land_detector.cpp.

Referenced by init_ardupilot(), init_disarm_motors(), and update_land_detector().

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◆ set_land_complete_maybe()

void Copter::set_land_complete_maybe ( bool b )

private

Definition at line 124 of file land_detector.cpp.

Referenced by init_ardupilot(), init_disarm_motors(), and update_land_detector().

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◆ set_mode()

bool Copter::set_mode	(	control_mode_t	mode,
		mode_reason_t	reason
	)

private

Definition at line 171 of file mode.cpp.

Referenced by fence_check(), set_mode_RTL_or_land_with_pause(), set_mode_SmartRTL_or_land_with_pause(), and set_mode_SmartRTL_or_RTL().

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◆ set_mode_land_with_pause()

void Copter::set_mode_land_with_pause ( mode_reason_t reason )

private

Definition at line 152 of file mode_land.cpp.

Referenced by failsafe_radio_on_event(), handle_battery_failsafe(), set_mode_RTL_or_land_with_pause(), and set_mode_SmartRTL_or_land_with_pause().

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◆ set_mode_RTL_or_land_with_pause()

void Copter::set_mode_RTL_or_land_with_pause ( mode_reason_t reason )

private

Definition at line 227 of file events.cpp.

Referenced by failsafe_gcs_check(), failsafe_radio_on_event(), failsafe_terrain_on_event(), handle_battery_failsafe(), and set_mode_SmartRTL_or_RTL().

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◆ set_mode_SmartRTL_or_land_with_pause()

void Copter::set_mode_SmartRTL_or_land_with_pause ( mode_reason_t reason )

private

Definition at line 241 of file events.cpp.

Referenced by failsafe_gcs_check(), failsafe_radio_on_event(), and handle_battery_failsafe().

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◆ set_mode_SmartRTL_or_RTL()

void Copter::set_mode_SmartRTL_or_RTL ( mode_reason_t reason )

private

Definition at line 254 of file events.cpp.

Referenced by failsafe_gcs_check(), failsafe_radio_on_event(), and handle_battery_failsafe().

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◆ set_motor_emergency_stop()

void Copter::set_motor_emergency_stop ( bool b )

private

Definition at line 93 of file AP_State.cpp.

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◆ set_simple_mode()

void Copter::set_simple_mode ( uint8_t b )

private

Set Simple mode

Parameters

[in] b 0:false or disabled, 1:true or SIMPLE, 2:SUPERSIMPLE

Definition at line 22 of file AP_State.cpp.

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◆ set_system_time_from_GPS()

void Copter::set_system_time_from_GPS ( )

private

Definition at line 129 of file commands.cpp.

Referenced by update_GPS().

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◆ set_throttle_and_failsafe()

void Copter::set_throttle_and_failsafe ( uint16_t throttle_pwm )

private

Definition at line 127 of file radio.cpp.

Referenced by read_radio().

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◆ set_throttle_takeoff()

void Copter::set_throttle_takeoff ( )

private

Definition at line 68 of file Attitude.cpp.

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◆ set_throttle_zero_flag()

void Copter::set_throttle_zero_flag ( int16_t throttle_control )

private

Definition at line 173 of file radio.cpp.

Referenced by read_radio().

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◆ setup()

void Copter::setup ( )

overridevirtual

Implements AP_HAL::HAL::Callbacks.

Definition at line 197 of file ArduCopter.cpp.

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◆ should_disarm_on_failsafe()

bool Copter::should_disarm_on_failsafe ( )

private

Definition at line 266 of file events.cpp.

Referenced by failsafe_gcs_check(), failsafe_radio_on_event(), failsafe_terrain_on_event(), and handle_battery_failsafe().

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◆ should_log()

bool Copter::should_log ( uint32_t mask )

private

Definition at line 435 of file system.cpp.

Referenced by fast_loop(), fourhundred_hz_logging(), init_simple_bearing(), one_hz_loop(), read_rangefinder(), rpm_update(), set_home(), ten_hz_logging_loop(), terrain_logging(), twentyfive_hz_logging(), update_altitude(), and update_batt_compass().

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◆ start_command()

bool Copter::start_command ( const AP_Mission::Mission_Command & cmd )

inlineprivate

Definition at line 268 of file Copter.h.

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◆ startup_INS_ground()

void Copter::startup_INS_ground ( )

private

Definition at line 298 of file system.cpp.

Referenced by init_ardupilot().

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◆ takeoff_get_climb_rates()

void Copter::takeoff_get_climb_rates	(	float &	pilot_climb_rate,
		float &	takeoff_climb_rate
	)

private

Definition at line 91 of file takeoff.cpp.

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◆ takeoff_stop()

void Copter::takeoff_stop ( )

private

Definition at line 81 of file takeoff.cpp.

Referenced by takeoff_get_climb_rates().

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◆ takeoff_timer_start()

void Copter::takeoff_timer_start ( float alt_cm )

private

Definition at line 63 of file takeoff.cpp.

Referenced by do_user_takeoff().

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◆ ten_hz_logging_loop()

void Copter::ten_hz_logging_loop ( )

private

Definition at line 327 of file ArduCopter.cpp.

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◆ terrain_logging()

void Copter::terrain_logging ( )

private

Definition at line 21 of file terrain.cpp.

Referenced by one_hz_loop().

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◆ terrain_update()

void Copter::terrain_update ( )

private

Definition at line 4 of file terrain.cpp.

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◆ terrain_use()

bool Copter::terrain_use ( )

private

Definition at line 31 of file terrain.cpp.

Referenced by update_precland().

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◆ three_hz_loop()

void Copter::three_hz_loop ( )

private

Definition at line 392 of file ArduCopter.cpp.

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◆ throttle_loop()

void Copter::throttle_loop ( )

private

Definition at line 277 of file ArduCopter.cpp.

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◆ tuning()

void Copter::tuning ( )

private

Definition at line 10 of file tuning.cpp.

Referenced by three_hz_loop().

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◆ twentyfive_hz_logging()

void Copter::twentyfive_hz_logging ( )

private

Definition at line 367 of file ArduCopter.cpp.

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◆ update_altitude()

void Copter::update_altitude ( )

private

Definition at line 570 of file ArduCopter.cpp.

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◆ update_auto_armed()

void Copter::update_auto_armed ( )

private

Definition at line 383 of file system.cpp.

Referenced by throttle_loop().

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◆ update_batt_compass()

void Copter::update_batt_compass ( void )

private

Definition at line 299 of file ArduCopter.cpp.

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◆ update_events()

void Copter::update_events ( void )

private

Definition at line 286 of file events.cpp.

Referenced by three_hz_loop().

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◆ update_flight_mode()

void Copter::update_flight_mode ( )

private

Definition at line 245 of file mode.cpp.

Referenced by fast_loop().

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◆ update_GPS()

void Copter::update_GPS ( void )

private

Definition at line 459 of file ArduCopter.cpp.

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◆ update_ground_effect_detector()

void Copter::update_ground_effect_detector ( void )

private

Definition at line 3 of file baro_ground_effect.cpp.

Referenced by throttle_loop().

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◆ update_heli_control_dynamics()

void Copter::update_heli_control_dynamics ( void )

private

Referenced by fast_loop().

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◆ update_home_from_EKF()

void Copter::update_home_from_EKF ( )

private

Definition at line 4 of file commands.cpp.

Referenced by fast_loop().

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◆ update_land_and_crash_detectors()

void Copter::update_land_and_crash_detectors ( )

private

Definition at line 14 of file land_detector.cpp.

Referenced by fast_loop().

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◆ update_land_detector()

void Copter::update_land_detector ( )

private

Definition at line 33 of file land_detector.cpp.

Referenced by update_land_and_crash_detectors().

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◆ update_optical_flow()

void Copter::update_optical_flow ( void )

private

Definition at line 138 of file sensors.cpp.

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◆ update_precland()

void Copter::update_precland ( )

private

Definition at line 14 of file precision_landing.cpp.

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◆ update_proximity()

void Copter::update_proximity ( )

private

◆ update_sensor_status_flags()

void Copter::update_sensor_status_flags ( void )

private

Definition at line 226 of file sensors.cpp.

Referenced by one_hz_loop(), and send_extended_status1().

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◆ update_simple_mode()

void Copter::update_simple_mode ( void )

private

Definition at line 503 of file ArduCopter.cpp.

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◆ update_super_simple_bearing()

void Copter::update_super_simple_bearing ( bool force_update )

private

Definition at line 532 of file ArduCopter.cpp.

Referenced by init_arm_motors(), run_nav_updates(), and set_simple_mode().

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◆ update_throttle_hover()

void Copter::update_throttle_hover ( )

private

Definition at line 38 of file Attitude.cpp.

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◆ update_throttle_thr_mix()

void Copter::update_throttle_thr_mix ( )

private

Definition at line 139 of file land_detector.cpp.

Referenced by throttle_loop().

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◆ update_using_interlock()

void Copter::update_using_interlock ( )

private

Definition at line 81 of file AP_State.cpp.

Referenced by init_ardupilot(), and one_hz_loop().

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◆ update_visual_odom()

void Copter::update_visual_odom ( )

private

Definition at line 433 of file sensors.cpp.

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◆ userhook_50Hz()

void Copter::userhook_50Hz ( )

private

◆ userhook_FastLoop()

void Copter::userhook_FastLoop ( )

private

◆ userhook_init()

void Copter::userhook_init ( )

private

◆ userhook_MediumLoop()

void Copter::userhook_MediumLoop ( )

private

◆ userhook_SlowLoop()

void Copter::userhook_SlowLoop ( )

private

◆ userhook_SuperSlowLoop()

void Copter::userhook_SuperSlowLoop ( )

private

◆ verify_command_callback()

bool Copter::verify_command_callback ( const AP_Mission::Mission_Command & cmd )

inlineprivate

Definition at line 271 of file Copter.h.

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◆ winch_init()

void Copter::winch_init ( )

private

Definition at line 456 of file sensors.cpp.

Referenced by init_ardupilot().

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◆ winch_update()

void Copter::winch_update ( )

private

Definition at line 465 of file sensors.cpp.

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Friends And Related Function Documentation

◆ AP_Arming_Copter

friend class AP_Arming_Copter

friend

Definition at line 192 of file Copter.h.

◆ AP_Avoidance_Copter

friend class AP_Avoidance_Copter

friend

Definition at line 187 of file Copter.h.

◆ AP_Rally_Copter

friend class AP_Rally_Copter

friend

Definition at line 184 of file Copter.h.

◆ GCS_Copter

friend class GCS_Copter

friend

Definition at line 183 of file Copter.h.

◆ GCS_MAVLINK_Copter

friend class GCS_MAVLINK_Copter

friend

Definition at line 182 of file Copter.h.

◆ Parameters

friend class Parameters

friend

Definition at line 185 of file Copter.h.

◆ ParametersG2

friend class ParametersG2

friend

Definition at line 186 of file Copter.h.

◆ ToyMode

friend class ToyMode

friend

Definition at line 193 of file Copter.h.

Member Data Documentation

◆ _failsafe_priorities

constexpr int8_t Copter::_failsafe_priorities

staticprivate

Initial value:

= {
                                                      Failsafe_Action_Terminate,
                                                      Failsafe_Action_Land,
                                                      Failsafe_Action_RTL,
                                                      Failsafe_Action_SmartRTL_Land,
                                                      Failsafe_Action_SmartRTL,
                                                      Failsafe_Action_None,
                                                      -1 
                                                     }

Definition at line 638 of file Copter.h.

◆ _gcs

GCS_Copter Copter::_gcs

private

Definition at line 300 of file Copter.h.

Referenced by gcs().

◆ _home_bearing

int32_t Copter::_home_bearing

private

Definition at line 429 of file Copter.h.

Referenced by home_bearing().

◆ _home_distance

uint32_t Copter::_home_distance

private

Definition at line 430 of file Copter.h.

Referenced by home_distance().

◆ adsb [1/2]

uint8_t Copter::adsb

Definition at line 401 of file Copter.h.

Referenced by avoidance_adsb_update(), one_hz_loop(), and set_mode().

◆ adsb [2/2]

AP_ADSB Copter::adsb

private

Definition at line 576 of file Copter.h.

◆ ahrs

AP_AHRS_NavEKF Copter::ahrs {EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF}

private

Definition at line 255 of file Copter.h.

Referenced by accel_cal_update(), allocate_motors(), compass_accumulate(), ekf_position_ok(), home_bearing(), home_distance(), init_ardupilot(), init_arm_motors(), init_compass(), init_disarm_motors(), init_simple_bearing(), Copter::ModeBrake::is_autopilot(), Copter::ModeAuto::name4(), one_hz_loop(), optflow_position_ok(), pv_alt_above_home(), pv_alt_above_origin(), pv_distance_to_home_cm(), read_AHRS(), read_inertia(), read_rangefinder(), rotate_body_frame_to_NE(), send_pid_tuning(), set_home(), set_land_complete(), startup_INS_ground(), tuning(), update_batt_compass(), update_ground_effect_detector(), update_home_from_EKF(), update_land_and_crash_detectors(), update_optical_flow(), update_sensor_status_flags(), update_simple_mode(), update_throttle_hover(), update_throttle_thr_mix(), and update_visual_odom().

◆ alt_cm

int16_t Copter::alt_cm

Definition at line 242 of file Copter.h.

Referenced by takeoff_timer_start().

◆ alt_cm_filt

LowPassFilterFloat Copter::alt_cm_filt

Definition at line 244 of file Copter.h.

◆ alt_healthy

bool Copter::alt_healthy

Definition at line 241 of file Copter.h.

◆ ap

ap_t Copter::ap

private

Definition at line 341 of file Copter.h.

◆ aparm

AP_Vehicle::MultiCopter Copter::aparm

private

Definition at line 205 of file Copter.h.

Referenced by allocate_motors(), Copter::ModeAcro::get_pilot_desired_angle_rates(), Copter::Mode::land_run_horizontal_control(), Copter::ModeSport::run(), and Copter::ModeStabilize::run().

◆ arm_time_ms

uint32_t Copter::arm_time_ms

private

Definition at line 503 of file Copter.h.

Referenced by init_arm_motors(), and motors_output().

◆ arming

AP_Arming_Copter Copter::arming {ahrs, compass, battery, inertial_nav}

private

Definition at line 280 of file Copter.h.

Referenced by esc_calibration_startup_check(), init_ardupilot(), init_arm_motors(), mavlink_compassmot(), mavlink_motor_test_check(), and one_hz_loop().

◆ arming_altitude_m

float Copter::arming_altitude_m

private

Definition at line 378 of file Copter.h.

Referenced by init_arm_motors().

◆ attitude_control

AC_AttitudeControl_t* Copter::attitude_control

private

Definition at line 492 of file Copter.h.

Referenced by allocate_motors(), auto_takeoff_attitude_run(), crash_check(), fast_loop(), init_ardupilot(), parachute_check(), send_nav_controller_output(), send_pid_tuning(), set_accel_throttle_I_from_pilot_throttle(), ten_hz_logging_loop(), tuning(), update_ground_effect_detector(), update_land_detector(), and update_throttle_thr_mix().

◆ auto_takeoff_no_nav_alt_cm

float Copter::auto_takeoff_no_nav_alt_cm

private

Definition at line 373 of file Copter.h.

Referenced by auto_takeoff_attitude_run(), and auto_takeoff_set_start_alt().

◆ auto_trim_counter

uint8_t Copter::auto_trim_counter

private

Definition at line 506 of file Copter.h.

Referenced by arm_motors_check().

◆ aux_debounce

struct Copter::debounce Copter::aux_debounce[(CH_12 - CH_7)+1]

private

◆ avoid

AC_Avoid Copter::avoid {ahrs, fence, g2.proximity, &g2.beacon}

private

Definition at line 532 of file Copter.h.

Referenced by get_avoidance_adjusted_climbrate(), and init_ardupilot().

◆ avoidance_adsb

AP_Avoidance_Copter Copter::avoidance_adsb {ahrs, adsb}

private

Definition at line 579 of file Copter.h.

Referenced by avoidance_adsb_update().

◆ baro

uint8_t Copter::baro

Definition at line 410 of file Copter.h.

◆ baro_alt

int32_t Copter::baro_alt

private

Definition at line 466 of file Copter.h.

Referenced by parachute_check(), and read_barometer().

◆ baro_climbrate

float Copter::baro_climbrate

private

Definition at line 467 of file Copter.h.

Referenced by read_barometer().

◆ barometer

AP_Baro Copter::barometer

private

Definition at line 234 of file Copter.h.

Referenced by init_ardupilot(), read_barometer(), and update_sensor_status_flags().

◆ battery

AP_BattMonitor Copter::battery

private

Initial value:

{MASK_LOG_CURRENT,
                           FUNCTOR_BIND_MEMBER(&Copter::handle_battery_failsafe, void, const char*, const int8_t),
                           _failsafe_priorities}

Definition at line 445 of file Copter.h.

Referenced by failsafe_radio_on_event(), init_ardupilot(), mavlink_compassmot(), motor_test_output(), Copter::ModeAuto::name4(), send_extended_status1(), update_batt_compass(), and update_sensor_status_flags().

◆ BoardConfig

AP_BoardConfig Copter::BoardConfig

private

Definition at line 381 of file Copter.h.

Referenced by esc_calibration_auto(), esc_calibration_passthrough(), init_ardupilot(), and init_rc_out().

◆ camera

AP_Camera Copter::camera {&relay, MASK_LOG_CAMERA, current_loc, ahrs}

private

Definition at line 516 of file Copter.h.

Referenced by set_mode(), and update_GPS().

◆ camera_mount

AP_Mount Copter::camera_mount {ahrs, current_loc}

private

Definition at line 522 of file Copter.h.

Referenced by exit_mode(), fast_loop(), and init_ardupilot().

◆ channel_pitch

RC_Channel* Copter::channel_pitch

private

Definition at line 222 of file Copter.h.

Referenced by default_dead_zones(), init_rc_in(), lost_vehicle_check(), radio_passthrough_to_motors(), and update_simple_mode().

◆ channel_roll

RC_Channel* Copter::channel_roll

private

Definition at line 221 of file Copter.h.

Referenced by default_dead_zones(), init_rc_in(), lost_vehicle_check(), radio_passthrough_to_motors(), and update_simple_mode().

◆ channel_throttle

RC_Channel* Copter::channel_throttle

private

Definition at line 223 of file Copter.h.

Referenced by arm_motors_check(), auto_disarm_check(), compass_cal_update(), default_dead_zones(), esc_calibration_passthrough(), esc_calibration_startup_check(), get_throttle_mid(), init_rc_in(), init_rc_out(), mavlink_compassmot(), motor_test_output(), one_hz_loop(), radio_passthrough_to_motors(), read_radio(), set_throttle_and_failsafe(), update_ground_effect_detector(), and update_throttle_thr_mix().

◆ channel_yaw

RC_Channel* Copter::channel_yaw

private

Definition at line 224 of file Copter.h.

Referenced by arm_motors_check(), compass_cal_update(), default_dead_zones(), init_rc_in(), and radio_passthrough_to_motors().

◆ circle_nav

AC_Circle* Copter::circle_nav

private

Definition at line 497 of file Copter.h.

Referenced by allocate_motors(), and tuning().

◆ climb_rate

int16_t Copter::climb_rate

private

Definition at line 464 of file Copter.h.

Referenced by read_inertia(), and update_throttle_hover().

◆ command_ack_counter

uint8_t Copter::command_ack_counter

private

Definition at line 218 of file Copter.h.

Referenced by mavlink_compassmot().

◆ compass [1/2]

Compass Copter::compass

private

Definition at line 235 of file Copter.h.

Referenced by compass_accumulate(), compass_cal_update(), init_compass(), init_disarm_motors(), mavlink_compassmot(), mavlink_motor_test_start(), motor_test_output(), motor_test_stop(), Copter::ModeAuto::name4(), report_compass(), tuning(), update_batt_compass(), and update_sensor_status_flags().

◆ compass [2/2]

uint8_t Copter::compass

Definition at line 411 of file Copter.h.

◆ control_mode

control_mode_t Copter::control_mode

private

◆ control_mode_reason

mode_reason_t Copter::control_mode_reason = MODE_REASON_UNKNOWN

private

Definition at line 346 of file Copter.h.

Referenced by init_arm_motors(), and set_mode().

◆ control_sensors_enabled

uint32_t Copter::control_sensors_enabled

private

Definition at line 459 of file Copter.h.

Referenced by send_extended_status1(), and update_sensor_status_flags().

◆ control_sensors_health

uint32_t Copter::control_sensors_health

private

Definition at line 460 of file Copter.h.

Referenced by send_extended_status1(), and update_sensor_status_flags().

◆ control_sensors_present

uint32_t Copter::control_sensors_present

private

Definition at line 458 of file Copter.h.

Referenced by send_extended_status1(), and update_sensor_status_flags().

◆ control_switch_state

struct { ... } Copter::control_switch_state

◆ current_loc

Location_Class Copter::current_loc

private

Definition at line 475 of file Copter.h.

Referenced by Copter::ModeAuto::do_circle(), Copter::ModeAuto::do_loiter_unlimited(), Copter::ModeAuto::do_nav_wp(), Copter::ModeAuto::do_spline_wp(), do_user_takeoff(), parachute_check(), parachute_manual_release(), read_inertia(), Copter::ModeAuto::terrain_adjusted_location(), and update_precland().

◆ DataFlash

DataFlash_Class Copter::DataFlash

private

Definition at line 227 of file Copter.h.

Referenced by init_ardupilot(), init_arm_motors(), mavlink_delay_cb(), read_rangefinder(), rpm_update(), set_home(), set_mode(), should_log(), ten_hz_logging_loop(), terrain_logging(), twentyfive_hz_logging(), update_batt_compass(), and update_visual_odom().

◆ debounced_switch_position

int8_t Copter::debounced_switch_position

Definition at line 353 of file Copter.h.

◆ devo_telemetry

AP_DEVO_Telem Copter::devo_telemetry {ahrs}

private

Definition at line 454 of file Copter.h.

Referenced by init_ardupilot(), and set_mode().

◆ ekf

uint8_t Copter::ekf

Definition at line 399 of file Copter.h.

◆ EKF2

NavEKF2 Copter::EKF2 {&ahrs, rangefinder}

private

Definition at line 253 of file Copter.h.

◆ EKF3

NavEKF3 Copter::EKF3 {&ahrs, rangefinder}

private

Definition at line 254 of file Copter.h.

◆ ekf_primary_core

int8_t Copter::ekf_primary_core

private

Definition at line 295 of file Copter.h.

◆ ekfGndSpdLimit

float Copter::ekfGndSpdLimit

private

Definition at line 288 of file Copter.h.

◆ ekfNavVelGainScaler

float Copter::ekfNavVelGainScaler

private

Definition at line 291 of file Copter.h.

◆ ekfYawReset_ms

uint32_t Copter::ekfYawReset_ms

private

Definition at line 294 of file Copter.h.

◆ enabled

bool Copter::enabled

Definition at line 240 of file Copter.h.

Referenced by optflow_position_ok().

◆ esc_calibration_notify_update_ms

uint32_t Copter::esc_calibration_notify_update_ms

private

Definition at line 586 of file Copter.h.

Referenced by esc_calibration_notify().

◆ failsafe

struct { ... } Copter::failsafe

Referenced by failsafe_check(), failsafe_gcs_check(), failsafe_terrain_check(), failsafe_terrain_on_event(), failsafe_terrain_set_status(), fence_check(), get_pilot_desired_climb_rate(), position_ok(), read_radio(), set_failsafe_gcs(), set_failsafe_radio(), set_throttle_and_failsafe(), tuning(), update_auto_armed(), and update_sensor_status_flags().

◆ fence

AC_Fence Copter::fence {ahrs}

private

Definition at line 527 of file Copter.h.

Referenced by failsafe_check(), fence_check(), fence_send_mavlink_status(), and set_mode().

◆ flight_modes

AP_Int8* Copter::flight_modes

private

Definition at line 232 of file Copter.h.

◆ flightmode

Mode* Copter::flightmode

private

Definition at line 955 of file Copter.h.

Referenced by arm_motors_check(), auto_disarm_check(), fence_check(), landinggear_update(), notify_flight_mode(), run_nav_updates(), send_nav_controller_output(), set_land_complete(), set_mode(), ten_hz_logging_loop(), update_auto_armed(), update_flight_mode(), update_ground_effect_detector(), update_throttle_hover(), and update_throttle_thr_mix().

◆ frsky_telemetry

AP_Frsky_Telem Copter::frsky_telemetry {ahrs, battery, rangefinder}

private

Definition at line 451 of file Copter.h.

Referenced by init_ardupilot(), set_mode(), and update_sensor_status_flags().

◆ fwver

const AP_FWVersion Copter::fwver

staticprivate

Initial value:

{
    .major = FW_MAJOR,
    .minor = FW_MINOR,
    .patch = FW_PATCH,
    .fw_type = FW_TYPE,
    .fw_string = THISFIRMWARE,
}

Definition at line 202 of file Copter.h.

Referenced by init_ardupilot().

◆ g

Parameters Copter::g

private

◆ g2

ParametersG2 Copter::g2

private

◆ G_Dt

float Copter::G_Dt

private

Definition at line 480 of file Copter.h.

Referenced by get_avoidance_adjusted_climbrate(), init_ardupilot(), loop(), and read_inertia().

◆ gcs

uint8_t Copter::gcs

Definition at line 398 of file Copter.h.

◆ glitch_count

int8_t Copter::glitch_count

Definition at line 245 of file Copter.h.

◆ gndeffect_state

struct { ... } Copter::gndeffect_state

Referenced by update_ground_effect_detector().

◆ gps

AP_GPS Copter::gps

private

Definition at line 229 of file Copter.h.

Referenced by GCS_MAVLINK_Copter::handleMessage(), init_ardupilot(), set_system_time_from_GPS(), update_GPS(), and update_sensor_status_flags().

◆ inertial_nav

◆ initial_armed_bearing

int32_t Copter::initial_armed_bearing

private

Definition at line 442 of file Copter.h.

Referenced by init_arm_motors().

◆ ins

AP_InertialSensor Copter::ins

private

Definition at line 236 of file Copter.h.

Referenced by accel_cal_update(), fast_loop(), GCS_MAVLINK_Copter::handleMessage(), init_ardupilot(), startup_INS_ground(), and update_sensor_status_flags().

◆ land_accel_ef_filter

LowPassFilterVector3f Copter::land_accel_ef_filter

private

Definition at line 468 of file Copter.h.

Referenced by crash_check(), update_land_and_crash_detectors(), and update_land_detector().

◆ landinggear

AP_LandingGear Copter::landinggear

private

Definition at line 557 of file Copter.h.

Referenced by init_ardupilot(), landinggear_update(), and parachute_release().

◆ last_edge_time_ms

uint32_t Copter::last_edge_time_ms

Definition at line 355 of file Copter.h.

◆ last_healthy_ms

uint32_t Copter::last_healthy_ms

Definition at line 243 of file Copter.h.

◆ last_heartbeat_ms

uint32_t Copter::last_heartbeat_ms

Definition at line 390 of file Copter.h.

◆ last_radio_update_ms

uint32_t Copter::last_radio_update_ms

private

Definition at line 583 of file Copter.h.

Referenced by esc_calibration_startup_check(), failsafe_check(), and read_radio().

◆ last_switch_position

int8_t Copter::last_switch_position

Definition at line 354 of file Copter.h.

◆ LOG_COMMON_STRUCTURES

Copter::LOG_COMMON_STRUCTURES

Definition at line 481 of file Log.cpp.

◆ log_structure

const struct LogStructure Copter::log_structure[]

staticprivate

Definition at line 627 of file Copter.h.

◆ loiter_nav

AC_Loiter* Copter::loiter_nav

private

Definition at line 495 of file Copter.h.

Referenced by allocate_motors(), and init_ardupilot().

◆ mission

AP_Mission Copter::mission

private

Initial value:

{ahrs,
            FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
            FUNCTOR_BIND_MEMBER(&Copter::verify_command_callback, bool, const AP_Mission::Mission_Command &),
            FUNCTOR_BIND_MEMBER(&Copter::exit_mission, void)}

Definition at line 263 of file Copter.h.

Referenced by exit_mode(), init_ardupilot(), init_disarm_motors(), Copter::ModeBrake::is_autopilot(), and set_home().

◆ mode_acro

ModeAcro Copter::mode_acro

private

Definition at line 960 of file Copter.h.

Referenced by exit_mode(), and mode_from_mode_num().

◆ mode_althold

ModeAltHold Copter::mode_althold

private

Definition at line 963 of file Copter.h.

Referenced by mode_from_mode_num().

◆ mode_auto

ModeAuto Copter::mode_auto

private

Definition at line 965 of file Copter.h.

Referenced by exit_mission(), exit_mode(), mode_from_mode_num(), start_command(), and verify_command_callback().

◆ mode_autotune

ModeAutoTune Copter::mode_autotune

private

Definition at line 968 of file Copter.h.

Referenced by exit_mode(), init_disarm_motors(), and mode_from_mode_num().

◆ mode_avoid_adsb

ModeAvoidADSB Copter::mode_avoid_adsb

private

Definition at line 1005 of file Copter.h.

Referenced by mode_from_mode_num().

◆ mode_brake

ModeBrake Copter::mode_brake

private

Definition at line 971 of file Copter.h.

Referenced by mode_from_mode_num().

◆ mode_circle

ModeCircle Copter::mode_circle

private

Definition at line 974 of file Copter.h.

Referenced by mode_from_mode_num().

◆ mode_drift

ModeDrift Copter::mode_drift

private

Definition at line 977 of file Copter.h.

Referenced by mode_from_mode_num().

◆ mode_flip

ModeFlip Copter::mode_flip

private

Definition at line 979 of file Copter.h.

Referenced by mode_from_mode_num().

◆ mode_flowhold

ModeFlowHold Copter::mode_flowhold

private

Definition at line 1017 of file Copter.h.

◆ mode_follow

ModeFollow Copter::mode_follow

private

Definition at line 981 of file Copter.h.

Referenced by mode_from_mode_num().

◆ mode_guided

ModeGuided Copter::mode_guided

private

Definition at line 984 of file Copter.h.

Referenced by do_user_takeoff(), and mode_from_mode_num().

◆ mode_guided_nogps

ModeGuidedNoGPS Copter::mode_guided_nogps

private

Definition at line 1011 of file Copter.h.

Referenced by mode_from_mode_num().

◆ mode_land

ModeLand Copter::mode_land

private

Definition at line 986 of file Copter.h.

Referenced by mode_from_mode_num().

◆ mode_loiter

ModeLoiter Copter::mode_loiter

private

Definition at line 988 of file Copter.h.

Referenced by mode_from_mode_num().

◆ mode_poshold

ModePosHold Copter::mode_poshold

private

Definition at line 991 of file Copter.h.

Referenced by mode_from_mode_num().

◆ mode_rtl

ModeRTL Copter::mode_rtl

private

Definition at line 994 of file Copter.h.

Referenced by failsafe_terrain_on_event(), and mode_from_mode_num().

◆ mode_smartrtl

ModeSmartRTL Copter::mode_smartrtl

private

Definition at line 1014 of file Copter.h.

Referenced by exit_mode(), and mode_from_mode_num().

◆ mode_sport

ModeSport Copter::mode_sport

private

Definition at line 1002 of file Copter.h.

Referenced by mode_from_mode_num().

◆ mode_stabilize

ModeStabilize Copter::mode_stabilize

private

Definition at line 999 of file Copter.h.

Referenced by exit_mode(), and mode_from_mode_num().

◆ mode_throw

ModeThrow Copter::mode_throw

private

Definition at line 1008 of file Copter.h.

Referenced by mode_from_mode_num().

◆ motors

MOTOR_CLASS* Copter::motors

private

Definition at line 422 of file Copter.h.

Referenced by allocate_motors(), arm_motors_check(), auto_disarm_check(), auto_takeoff_set_start_alt(), compass_cal_update(), crash_check(), do_user_takeoff(), ekf_position_ok(), enable_motor_output(), esc_calibration_auto(), esc_calibration_passthrough(), esc_calibration_startup_check(), failsafe_check(), failsafe_gcs_check(), failsafe_radio_on_event(), fence_check(), get_non_takeoff_throttle(), get_pilot_desired_throttle(), get_surface_tracking_climb_rate(), init_ardupilot(), init_arm_motors(), init_disarm_motors(), init_rc_out(), lost_vehicle_check(), mavlink_compassmot(), mavlink_motor_test_start(), motor_test_output(), motor_test_stop(), motors_output(), one_hz_loop(), optflow_position_ok(), parachute_check(), radio_passthrough_to_motors(), read_barometer(), read_radio(), set_accel_throttle_I_from_pilot_throttle(), set_land_complete(), set_throttle_and_failsafe(), set_throttle_zero_flag(), tuning(), update_auto_armed(), update_batt_compass(), update_ground_effect_detector(), update_home_from_EKF(), update_land_detector(), update_throttle_hover(), and update_throttle_thr_mix().

◆ motors_var_info

const struct AP_Param::GroupInfo* Copter::motors_var_info

private

Definition at line 423 of file Copter.h.

Referenced by allocate_motors().

◆ notify

AP_Notify Copter::notify

private

Definition at line 215 of file Copter.h.

Referenced by esc_calibration_notify(), init_ardupilot(), init_arm_motors(), mavlink_delay_cb(), and notify_flight_mode().

◆ optflow

OpticalFlow Copter::optflow {ahrs}

private

Definition at line 284 of file Copter.h.

Referenced by init_ardupilot(), init_optflow(), optflow_position_ok(), update_optical_flow(), and update_sensor_status_flags().

◆ parachute

AP_Parachute Copter::parachute {relay}

private

Definition at line 553 of file Copter.h.

Referenced by parachute_check(), parachute_manual_release(), and parachute_release().

◆ param_loader

AP_Param Copter::param_loader

private

Definition at line 595 of file Copter.h.

◆ pos_control

AC_PosControl* Copter::pos_control

private

Definition at line 493 of file Copter.h.

Referenced by allocate_motors(), auto_takeoff_attitude_run(), get_avoidance_adjusted_climbrate(), init_ardupilot(), send_nav_controller_output(), set_accel_throttle_I_from_pilot_throttle(), set_throttle_takeoff(), ten_hz_logging_loop(), tuning(), update_ground_effect_detector(), update_throttle_hover(), and update_throttle_thr_mix().

◆ precland

AC_PrecLand Copter::precland {ahrs}

private

Definition at line 566 of file Copter.h.

Referenced by Copter::Mode::land_run_horizontal_control(), Copter::Mode::land_run_vertical_control(), and update_sensor_status_flags().

◆ prev_control_mode

control_mode_t Copter::prev_control_mode

private

Definition at line 348 of file Copter.h.

Referenced by AP_Avoidance_Copter::handle_avoidance(), and AP_Avoidance_Copter::handle_recovery().

◆ prev_control_mode_reason

mode_reason_t Copter::prev_control_mode_reason = MODE_REASON_UNKNOWN

private

Definition at line 349 of file Copter.h.

◆ primary_gps

uint8_t Copter::primary_gps

Definition at line 412 of file Copter.h.

◆ radio

uint8_t Copter::radio

Definition at line 397 of file Copter.h.

◆ radio_counter

int8_t Copter::radio_counter

Definition at line 394 of file Copter.h.

◆ rally

AP_Rally_Copter Copter::rally {ahrs}

private

Definition at line 540 of file Copter.h.

Referenced by Copter::ModeBrake::is_autopilot().

◆ rangefinder

RangeFinder Copter::rangefinder {serial_manager, ROTATION_PITCH_270}

private

Definition at line 238 of file Copter.h.

Referenced by init_proximity(), init_rangefinder(), read_rangefinder(), terrain_update(), and update_sensor_status_flags().

◆ rangefinder_state

struct { ... } Copter::rangefinder_state

Referenced by get_surface_tracking_climb_rate(), init_rangefinder(), rangefinder_alt_ok(), read_rangefinder(), update_land_detector(), update_precland(), and update_sensor_status_flags().

◆ rc_override_active

uint8_t Copter::rc_override_active

Definition at line 396 of file Copter.h.

◆ rc_throttle_control_in_filter

LowPassFilterFloat Copter::rc_throttle_control_in_filter

private

Definition at line 471 of file Copter.h.

Referenced by Copter::Mode::land_run_horizontal_control(), and read_radio().

◆ rcmap

RCMapper Copter::rcmap

private

Definition at line 375 of file Copter.h.

Referenced by init_rc_in().

◆ relay

AP_Relay Copter::relay

private

Definition at line 509 of file Copter.h.

Referenced by init_ardupilot().

◆ rpm_sensor

AP_RPM Copter::rpm_sensor

private

Definition at line 249 of file Copter.h.

Referenced by init_ardupilot(), rpm_update(), and send_rpm().

◆ rssi

AP_RSSI Copter::rssi

private

Definition at line 544 of file Copter.h.

Referenced by init_ardupilot(), and ten_hz_logging_loop().

◆ scaleLongDown

float Copter::scaleLongDown

private

Definition at line 427 of file Copter.h.

Referenced by pv_location_to_vector(), and set_home().

◆ scheduler

AP_Scheduler Copter::scheduler {FUNCTOR_BIND_MEMBER(&Copter::fast_loop, void)}

private

Definition at line 212 of file Copter.h.

Referenced by allocate_motors(), crash_check(), failsafe_check(), init_ardupilot(), init_arm_motors(), init_rc_out(), loop(), parachute_check(), send_extended_status1(), setup(), startup_INS_ground(), update_land_and_crash_detectors(), and update_land_detector().

◆ scheduler_tasks

const AP_Scheduler::Task Copter::scheduler_tasks

staticprivate

Definition at line 625 of file Copter.h.

Referenced by setup().

◆ sensor_health

struct { ... } Copter::sensor_health

Referenced by Copter().

◆ serial_manager

AP_SerialManager Copter::serial_manager

private

Definition at line 297 of file Copter.h.

Referenced by init_ardupilot().

◆ ServoRelayEvents

AP_ServoRelayEvents Copter::ServoRelayEvents {relay}

private

Definition at line 512 of file Copter.h.

Referenced by init_ardupilot(), and update_events().

◆ simple_cos_yaw

float Copter::simple_cos_yaw

private

Definition at line 435 of file Copter.h.

Referenced by init_simple_bearing(), and update_simple_mode().

◆ simple_sin_yaw

float Copter::simple_sin_yaw

private

Definition at line 436 of file Copter.h.

Referenced by init_simple_bearing(), and update_simple_mode().

◆ sitl

SITL::SITL Copter::sitl

private

Definition at line 258 of file Copter.h.

◆ sprayer

AC_Sprayer Copter::sprayer

private

Definition at line 548 of file Copter.h.

Referenced by init_arm_motors(), and three_hz_loop().

◆ super_simple_cos_yaw

float Copter::super_simple_cos_yaw

private

Definition at line 438 of file Copter.h.

Referenced by init_simple_bearing(), update_simple_mode(), and update_super_simple_bearing().

◆ super_simple_last_bearing

int32_t Copter::super_simple_last_bearing

private

Definition at line 437 of file Copter.h.

Referenced by init_simple_bearing(), and update_super_simple_bearing().

◆ super_simple_sin_yaw

float Copter::super_simple_sin_yaw

private

Definition at line 439 of file Copter.h.

Referenced by init_simple_bearing(), update_simple_mode(), and update_super_simple_bearing().

◆ takeoff_alt_cm

float Copter::takeoff_alt_cm

Definition at line 619 of file Copter.h.

◆ takeoff_expected

bool Copter::takeoff_expected

Definition at line 616 of file Copter.h.

◆ takeoff_state

takeoff_state_t Copter::takeoff_state

private

Definition at line 370 of file Copter.h.

Referenced by takeoff_get_climb_rates(), takeoff_stop(), and takeoff_timer_start().

◆ takeoff_time_ms

uint32_t Copter::takeoff_time_ms

Definition at line 618 of file Copter.h.

◆ target_rangefinder_alt

float Copter::target_rangefinder_alt

private

Definition at line 465 of file Copter.h.

Referenced by get_surface_tracking_climb_rate().

◆ terrain

uint8_t Copter::terrain

Definition at line 400 of file Copter.h.

Referenced by init_ardupilot(), terrain_logging(), terrain_update(), and update_sensor_status_flags().

◆ terrain_first_failure_ms

uint32_t Copter::terrain_first_failure_ms

Definition at line 391 of file Copter.h.

◆ terrain_last_failure_ms

uint32_t Copter::terrain_last_failure_ms

Definition at line 392 of file Copter.h.

◆ touchdown_expected

bool Copter::touchdown_expected

Definition at line 617 of file Copter.h.

◆ upgrading_frame_params

bool Copter::upgrading_frame_params

private

Definition at line 623 of file Copter.h.

Referenced by allocate_motors().

◆ var_info

const AP_Param::Info Copter::var_info

staticprivate

Definition at line 626 of file Copter.h.

◆ visual_odom_last_update_ms

uint32_t Copter::visual_odom_last_update_ms

private

Definition at line 590 of file Copter.h.

Referenced by update_visual_odom().

◆ wp_nav

AC_WPNav* Copter::wp_nav

private

Definition at line 494 of file Copter.h.

Referenced by allocate_motors(), auto_takeoff_attitude_run(), init_ardupilot(), read_rangefinder(), takeoff_timer_start(), and tuning().

The documentation for this struct was generated from the following files:

ArduCopter/Copter.h
ArduCopter/Log.cpp
ArduCopter/AP_State.cpp
ArduCopter/ArduCopter.cpp
ArduCopter/Attitude.cpp
ArduCopter/avoidance_adsb.cpp
ArduCopter/baro_ground_effect.cpp
ArduCopter/capabilities.cpp
ArduCopter/commands.cpp
ArduCopter/compassmot.cpp
ArduCopter/compat.cpp
ArduCopter/Copter.cpp
ArduCopter/crash_check.cpp
ArduCopter/ekf_check.cpp
ArduCopter/esc_calibration.cpp
ArduCopter/events.cpp
ArduCopter/failsafe.cpp
ArduCopter/fence.cpp
ArduCopter/GCS_Mavlink.cpp
ArduCopter/inertia.cpp
ArduCopter/land_detector.cpp
ArduCopter/landing_gear.cpp
ArduCopter/mode.cpp
ArduCopter/mode_land.cpp
ArduCopter/motor_test.cpp
ArduCopter/motors.cpp
ArduCopter/navigation.cpp
ArduCopter/Parameters.cpp
ArduCopter/position_vector.cpp
ArduCopter/precision_landing.cpp
ArduCopter/radio.cpp
ArduCopter/sensors.cpp
ArduCopter/setup.cpp
ArduCopter/switches.cpp
ArduCopter/system.cpp
ArduCopter/takeoff.cpp
ArduCopter/terrain.cpp
ArduCopter/tuning.cpp
ArduCopter/version.cpp

Classes

Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ Failsafe_Action

Constructor & Destructor Documentation

◆ Copter()

Member Function Documentation

◆ accel_cal_update()

◆ allocate_motors()

◆ any_failsafe_triggered()

◆ arm_motors_check()

◆ auto_disarm_check()

◆ auto_takeoff_attitude_run()

◆ auto_takeoff_set_start_alt()

◆ auto_trim()

◆ avoidance_adsb_update()

◆ check_duplicate_auxsw()

◆ check_dynamic_flight()

◆ check_ekf_reset()

◆ check_if_auxsw_mode_used()

◆ check_usb_mux()

◆ compass_accumulate()

◆ compass_cal_update()

◆ convert_pid_parameters()

◆ crash_check()

◆ current_mode_has_user_takeoff()

◆ debounce_aux_switch()

◆ default_dead_zones()

◆ delay()

◆ do_aux_switch_function()

◆ do_user_takeoff()

◆ ekf_check()

◆ ekf_over_threshold()

◆ ekf_position_ok()

◆ enable_motor_output()

◆ esc_calibration_auto()

◆ esc_calibration_notify()

◆ esc_calibration_passthrough()

◆ esc_calibration_startup_check()

◆ exit_mission()

◆ exit_mode()

◆ failsafe_check()

◆ failsafe_disable()

◆ failsafe_ekf_event()

◆ failsafe_ekf_off_event()

◆ failsafe_enable()

◆ failsafe_gcs_check()

◆ failsafe_gcs_off_event()

◆ failsafe_radio_off_event()

◆ failsafe_radio_on_event()

◆ failsafe_terrain_check()

◆ failsafe_terrain_on_event()

◆ failsafe_terrain_set_status()

◆ far_from_EKF_origin()

◆ fast_loop()

◆ fence_check()

◆ fence_send_mavlink_status()

◆ fourhundred_hz_logging()

◆ gcs()

◆ gcs_check_input()

◆ gcs_data_stream_send()

◆ gcs_send_deferred()

◆ gcs_send_heartbeat()

◆ get_avoidance_adjusted_climbrate()

◆ get_frame_mav_type()

◆ get_frame_string()

◆ get_non_takeoff_throttle()

◆ get_pilot_desired_climb_rate()

◆ get_pilot_desired_throttle()

◆ get_pilot_desired_yaw_rate()

◆ get_pilot_speed_dn()

◆ get_surface_tracking_climb_rate()

◆ get_throttle_mid()