Copter::Mode Class Reference

Inheritance diagram for Copter::Mode:

Collaboration diagram for Copter::Mode:

Classes
class	AutoYaw

Static Public Attributes
static AutoYaw	auto_yaw

Protected Member Functions
virtual bool	init (bool ignore_checks)=0
virtual void	run ()=0
virtual bool	is_autopilot () const
virtual bool	requires_GPS () const =0
virtual bool	has_manual_throttle () const =0
virtual bool	allows_arming (bool from_gcs) const =0
virtual bool	landing_gear_should_be_deployed () const
virtual const char *	name () const =0
virtual const char *	name4 () const =0
void	update_navigation ()
virtual void	run_autopilot ()
virtual uint32_t	wp_distance () const
virtual int32_t	wp_bearing () const
virtual bool	get_wp (Location_Class &loc)
virtual bool	in_guided_mode () const
void	get_pilot_desired_lean_angles (float &roll_out, float &pitch_out, float angle_max, float angle_limit) const
bool	takeoff_triggered (float target_climb_rate) const
void	zero_throttle_and_relax_ac ()
int32_t	get_alt_above_ground (void)
void	land_run_horizontal_control ()
void	land_run_vertical_control (bool pause_descent=false)
float	get_surface_tracking_climb_rate (int16_t target_rate, float current_alt_target, float dt)
float	get_pilot_desired_yaw_rate (int16_t stick_angle)
float	get_pilot_desired_climb_rate (float throttle_control)
float	get_pilot_desired_throttle (int16_t throttle_control, float thr_mid=0.0f)
float	get_non_takeoff_throttle (void)
void	update_simple_mode (void)
bool	set_mode (control_mode_t mode, mode_reason_t reason)
void	set_land_complete (bool b)
GCS_Copter &	gcs ()
void	Log_Write_Event (uint8_t id)
void	set_throttle_takeoff (void)
void	takeoff_timer_start (float alt_cm)
void	takeoff_stop (void)
void	takeoff_get_climb_rates (float &pilot_climb_rate, float &takeoff_climb_rate)
float	get_avoidance_adjusted_climbrate (float target_rate)
uint16_t	get_pilot_speed_dn (void)

Protected Attributes
Parameters &	g
ParametersG2 &	g2
AC_WPNav *&	wp_nav
AC_Loiter *&	loiter_nav
AC_PosControl *&	pos_control
AP_InertialNav &	inertial_nav
AP_AHRS &	ahrs
AC_AttitudeControl_t *&	attitude_control
MOTOR_CLASS *&	motors
RC_Channel *&	channel_roll
RC_Channel *&	channel_pitch
RC_Channel *&	channel_throttle
RC_Channel *&	channel_yaw
float &	G_Dt
ap_t &	ap
takeoff_state_t &	takeoff_state
float &	ekfGndSpdLimit
float &	ekfNavVelGainScaler

Private Member Functions
	Mode (void)

Friends
class	Copter
class	AP_Arming_Copter
class	ToyMode
class	GCS_MAVLINK_Copter

Detailed Description

Definition at line 6 of file Copter.h.

Constructor & Destructor Documentation

Mode()

Copter::Mode::Mode ( void  )

private

Definition at line 11 of file mode.cpp.

Member Function Documentation

allows_arming()

virtual bool Copter::Mode::allows_arming ( bool  from_gcs ) const

protectedpure virtual

Implemented in Copter::ModeFollow, Copter::ModeAvoidADSB, Copter::ModeThrow, Copter::ModeStabilize, Copter::ModeSport, Copter::ModeSmartRTL, Copter::ModeRTL, Copter::ModePosHold, Copter::ModeLoiter, Copter::ModeLand, Copter::ModeGuidedNoGPS, Copter::ModeGuided, Copter::ModeFlowHold, Copter::ModeFlip, Copter::ModeDrift, Copter::ModeCircle, Copter::ModeBrake, Copter::ModeAutoTune, Copter::ModeAuto, Copter::ModeAltHold, and Copter::ModeAcro.

Referenced by Copter::set_land_complete().

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gcs()

GCS_Copter & Copter::Mode::gcs ( )

protected

Definition at line 587 of file mode.cpp.

Referenced by Copter::ModeAutoTune::autotune_attitude_control(), Copter::ModeAutoTune::do_gcs_announcements(), Copter::ModeAuto::do_nav_delay(), Copter::ModeAuto::init(), Copter::ModeFollow::init(), Copter::ModeRTL::restart_without_terrain(), Copter::ModeThrow::run(), Copter::ModeAutoTune::send_step_string(), Copter::set_mode(), Copter::ModeAuto::start_command(), Copter::ModeAutoTune::update_gcs(), Copter::ModeFlowHold::update_height_estimate(), Copter::ModeAuto::verify_command(), Copter::ModeAuto::verify_command_callback(), Copter::ModeAuto::verify_nav_wp(), Copter::ModeAuto::verify_payload_place(), and Copter::ModeAuto::verify_spline_wp().

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get_alt_above_ground()

int32_t Copter::Mode::get_alt_above_ground ( void  )

protected

Definition at line 389 of file mode.cpp.

Referenced by land_run_horizontal_control(), and land_run_vertical_control().

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get_avoidance_adjusted_climbrate()

float Copter::Mode::get_avoidance_adjusted_climbrate ( float  target_rate )

protected

Definition at line 617 of file mode.cpp.

Referenced by Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), and Copter::ModeFollow::run().

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get_non_takeoff_throttle()

float Copter::Mode::get_non_takeoff_throttle ( void  )

protected

Definition at line 568 of file mode.cpp.

Referenced by Copter::ModeStabilize::init().

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get_pilot_desired_climb_rate()

float Copter::Mode::get_pilot_desired_climb_rate ( float  throttle_control )

protected

Definition at line 558 of file mode.cpp.

Referenced by Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeCircle::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), and Copter::ModeSport::run().

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get_pilot_desired_lean_angles()

void Copter::Mode::get_pilot_desired_lean_angles ( float &  roll_out, float &  pitch_out, float  angle_max, float  angle_limit  ) const

protected

Definition at line 326 of file mode.cpp.

Referenced by Copter::ModeRTL::descent_run(), land_run_horizontal_control(), Copter::ModeLand::nogps_run(), Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeDrift::run(), Copter::ModeFlowHold::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), and Copter::ModeStabilize::run().

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get_pilot_desired_throttle()

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

protected

Definition at line 563 of file mode.cpp.

Referenced by Copter::ModeAcro::init(), Copter::ModeStabilize::init(), Copter::ModeAcro::run(), Copter::ModeDrift::run(), Copter::ModeFlip::run(), and Copter::ModeStabilize::run().

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get_pilot_desired_yaw_rate()

float Copter::Mode::get_pilot_desired_yaw_rate ( int16_t  stick_angle )

protected

Definition at line 553 of file mode.cpp.

Referenced by Copter::ModeRTL::climb_return_run(), Copter::ModeRTL::descent_run(), Copter::ModeAcro::get_pilot_desired_angle_rates(), land_run_horizontal_control(), Copter::ModeAuto::loiter_run(), Copter::ModeRTL::loiterathome_run(), Copter::ModeLand::nogps_run(), Copter::ModeSmartRTL::path_follow_run(), Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeCircle::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), Copter::ModeStabilize::run(), Copter::ModeAuto::spline_run(), Copter::ModeAuto::takeoff_run(), and Copter::ModeAuto::wp_run().

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get_pilot_speed_dn()

uint16_t Copter::Mode::get_pilot_speed_dn ( void  )

protected

Definition at line 622 of file mode.cpp.

Referenced by Copter::ModeCircle::init(), Copter::ModePosHold::init(), Copter::ModeSport::init(), Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeCircle::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), and Copter::ModeAutoTune::start().

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get_surface_tracking_climb_rate()

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

protected

Definition at line 548 of file mode.cpp.

Referenced by Copter::ModeAltHold::run(), Copter::ModeCircle::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), and Copter::ModeSport::run().

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get_wp()

virtual bool Copter::Mode::get_wp ( Location_Class &  loc )

inlineprotectedvirtual

Reimplemented in Copter::ModeGuided, and Copter::ModeAuto.

Definition at line 97 of file Copter.h.

has_manual_throttle()

virtual bool Copter::Mode::has_manual_throttle ( ) const

protectedpure virtual

Implemented in Copter::ModeFollow, Copter::ModeAvoidADSB, Copter::ModeThrow, Copter::ModeStabilize, Copter::ModeSport, Copter::ModeSmartRTL, Copter::ModeRTL, Copter::ModePosHold, Copter::ModeLoiter, Copter::ModeLand, Copter::ModeGuidedNoGPS, Copter::ModeGuided, Copter::ModeFlowHold, Copter::ModeFlip, Copter::ModeDrift, Copter::ModeCircle, Copter::ModeBrake, Copter::ModeAutoTune, Copter::ModeAuto, Copter::ModeAltHold, and Copter::ModeAcro.

Referenced by Copter::arm_motors_check(), Copter::auto_disarm_check(), Copter::exit_mode(), Copter::fence_check(), Copter::set_land_complete(), Copter::set_mode(), Copter::update_auto_armed(), Copter::update_ground_effect_detector(), Copter::update_throttle_hover(), and Copter::update_throttle_thr_mix().

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in_guided_mode()

virtual bool Copter::Mode::in_guided_mode ( ) const

inlineprotectedvirtual

Reimplemented in Copter::ModeGuided, and Copter::ModeAuto.

Definition at line 98 of file Copter.h.

init()

virtual bool Copter::Mode::init ( bool  ignore_checks )

protectedpure virtual

Implemented in Copter::ModeFollow, Copter::ModeAvoidADSB, Copter::ModeThrow, Copter::ModeStabilize, Copter::ModeSport, Copter::ModeSmartRTL, Copter::ModeRTL, Copter::ModePosHold, Copter::ModeLoiter, Copter::ModeLand, Copter::ModeGuidedNoGPS, Copter::ModeGuided, Copter::ModeFlowHold, Copter::ModeFlip, Copter::ModeDrift, Copter::ModeCircle, Copter::ModeBrake, Copter::ModeAutoTune, Copter::ModeAuto, Copter::ModeAltHold, and Copter::ModeAcro.

Referenced by Copter::set_mode().

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is_autopilot()

virtual bool Copter::Mode::is_autopilot ( ) const

inlineprotectedvirtual

Reimplemented in Copter::ModeFollow, Copter::ModeAvoidADSB, Copter::ModeThrow, Copter::ModeStabilize, Copter::ModeSport, Copter::ModeSmartRTL, Copter::ModeRTL, Copter::ModePosHold, Copter::ModeLoiter, Copter::ModeLand, Copter::ModeGuidedNoGPS, Copter::ModeGuided, Copter::ModeFlowHold, Copter::ModeFlip, Copter::ModeDrift, Copter::ModeCircle, Copter::ModeBrake, Copter::ModeAutoTune, Copter::ModeAuto, Copter::ModeAltHold, and Copter::ModeAcro.

Definition at line 80 of file Copter.h.

Referenced by Copter::notify_flight_mode().

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land_run_horizontal_control()

void Copter::Mode::land_run_horizontal_control ( )

protected

Definition at line 449 of file mode.cpp.

Referenced by Copter::ModeLand::gps_run(), Copter::ModeAuto::land_run(), Copter::ModeRTL::land_run(), Copter::ModeAuto::payload_place_run_descend(), and Copter::ModeAuto::payload_place_run_loiter().

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land_run_vertical_control()

void Copter::Mode::land_run_vertical_control ( bool  pause_descent = false )

protected

Definition at line 403 of file mode.cpp.

Referenced by Copter::ModeLand::gps_run(), Copter::ModeAuto::land_run(), Copter::ModeRTL::land_run(), Copter::ModeLand::nogps_run(), and Copter::ModeAuto::payload_place_run_descend().

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landing_gear_should_be_deployed()

virtual bool Copter::Mode::landing_gear_should_be_deployed ( ) const

inlineprotectedvirtual

Reimplemented in Copter::ModeRTL, Copter::ModeLand, and Copter::ModeAuto.

Definition at line 85 of file Copter.h.

Referenced by Copter::landinggear_update().

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Log_Write_Event()

void Copter::Mode::Log_Write_Event ( uint8_t  id )

protected

Definition at line 592 of file mode.cpp.

Referenced by Copter::ModeAutoTune::autotune_attitude_control(), Copter::ModeAutoTune::backup_gains_and_initialise(), Copter::ModeRTL::descent_run(), Copter::ModeAuto::do_gripper(), Copter::ModeAuto::do_parachute(), Copter::ModeAuto::do_winch(), Copter::ModeAutoTune::init(), Copter::ModeFlip::init(), Copter::ModeLand::nogps_run(), Copter::ModeFlip::run(), Copter::ModeAutoTune::save_tuning_gains(), Copter::ModeAutoTune::stop(), Copter::ModeAutoTune::updating_angle_p_down(), Copter::ModeAutoTune::updating_angle_p_up(), Copter::ModeAutoTune::updating_rate_d_down(), Copter::ModeAutoTune::updating_rate_d_up(), and Copter::ModeAutoTune::updating_rate_p_up_d_down().

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name()

virtual const char* Copter::Mode::name ( ) const

protectedpure virtual

Implemented in Copter::ModeFollow, Copter::ModeAvoidADSB, Copter::ModeThrow, Copter::ModeStabilize, Copter::ModeSport, Copter::ModeSmartRTL, Copter::ModeRTL, Copter::ModePosHold, Copter::ModeLoiter, Copter::ModeLand, Copter::ModeGuidedNoGPS, Copter::ModeGuided, Copter::ModeFlowHold, Copter::ModeFlip, Copter::ModeDrift, Copter::ModeCircle, Copter::ModeBrake, Copter::ModeAutoTune, Copter::ModeAuto, Copter::ModeAltHold, and Copter::ModeAcro.

name4()

virtual const char* Copter::Mode::name4 ( ) const

protectedpure virtual

Implemented in Copter::ModeFollow, Copter::ModeAvoidADSB, Copter::ModeThrow, Copter::ModeStabilize, Copter::ModeSport, Copter::ModeSmartRTL, Copter::ModeRTL, Copter::ModePosHold, Copter::ModeLoiter, Copter::ModeLand, Copter::ModeGuidedNoGPS, Copter::ModeGuided, Copter::ModeFlowHold, Copter::ModeFlip, Copter::ModeDrift, Copter::ModeCircle, Copter::ModeBrake, Copter::ModeAutoTune, Copter::ModeAuto, Copter::ModeAltHold, and Copter::ModeAcro.

Referenced by Copter::notify_flight_mode().

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requires_GPS()

virtual bool Copter::Mode::requires_GPS ( ) const

protectedpure virtual

Implemented in Copter::ModeFollow, Copter::ModeAvoidADSB, Copter::ModeThrow, Copter::ModeStabilize, Copter::ModeSport, Copter::ModeSmartRTL, Copter::ModeRTL, Copter::ModePosHold, Copter::ModeLoiter, Copter::ModeLand, Copter::ModeGuidedNoGPS, Copter::ModeGuided, Copter::ModeFlowHold, Copter::ModeFlip, Copter::ModeDrift, Copter::ModeCircle, Copter::ModeBrake, Copter::ModeAutoTune, Copter::ModeAuto, Copter::ModeAltHold, and Copter::ModeAcro.

Referenced by Copter::ten_hz_logging_loop().

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run()

virtual void Copter::Mode::run ( )

protectedpure virtual

Implemented in Copter::ModeFollow, Copter::ModeAvoidADSB, Copter::ModeThrow, Copter::ModeStabilize, Copter::ModeSport, Copter::ModeSmartRTL, Copter::ModeRTL, Copter::ModePosHold, Copter::ModeLoiter, Copter::ModeLand, Copter::ModeGuidedNoGPS, Copter::ModeGuided, Copter::ModeFlowHold, Copter::ModeFlip, Copter::ModeDrift, Copter::ModeCircle, Copter::ModeBrake, Copter::ModeAutoTune, Copter::ModeAuto, Copter::ModeAltHold, and Copter::ModeAcro.

Referenced by Copter::update_flight_mode().

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run_autopilot()

virtual void Copter::Mode::run_autopilot ( )

inlineprotectedvirtual

Reimplemented in Copter::ModeAuto.

Definition at line 94 of file Copter.h.

Referenced by update_navigation().

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set_land_complete()

void Copter::Mode::set_land_complete ( bool  b )

protected

Definition at line 582 of file mode.cpp.

Referenced by Copter::ModeAcro::run(), Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeCircle::run(), Copter::ModeDrift::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), Copter::ModeStabilize::run(), and Copter::ModeAuto::takeoff_run().

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set_mode()

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

protected

Definition at line 577 of file mode.cpp.

Referenced by Copter::ModeAuto::exit_mission(), land_run_horizontal_control(), Copter::ModeThrow::run(), and Copter::set_mode_land_with_pause().

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set_throttle_takeoff()

void Copter::Mode::set_throttle_takeoff ( void  )

protected

Definition at line 597 of file mode.cpp.

Referenced by Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeCircle::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), Copter::ModeAuto::spline_run(), Copter::ModeAuto::takeoff_run(), Copter::ModeAuto::takeoff_start(), and Copter::ModeAuto::wp_run().

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takeoff_get_climb_rates()

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

protected

Definition at line 612 of file mode.cpp.

Referenced by Copter::ModeAltHold::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), and Copter::ModeSport::run().

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takeoff_stop()

void Copter::Mode::takeoff_stop ( void  )

protected

Definition at line 607 of file mode.cpp.

Referenced by Copter::exit_mode().

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takeoff_timer_start()

void Copter::Mode::takeoff_timer_start ( float  alt_cm )

protected

Definition at line 602 of file mode.cpp.

Referenced by Copter::ModeAltHold::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), and Copter::ModeSport::run().

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takeoff_triggered()

bool Copter::Mode::takeoff_triggered ( float  target_climb_rate ) const

protected

Definition at line 354 of file mode.cpp.

Referenced by Copter::ModeAltHold::run(), Copter::ModeFlowHold::run(), Copter::ModeLoiter::run(), and Copter::ModeSport::run().

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update_navigation()

void Copter::Mode::update_navigation ( )

protected

Definition at line 318 of file mode.cpp.

Referenced by Copter::run_nav_updates().

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update_simple_mode()

void Copter::Mode::update_simple_mode ( void  )

protected

Definition at line 573 of file mode.cpp.

Referenced by Copter::ModeRTL::descent_run(), land_run_horizontal_control(), Copter::ModeLand::nogps_run(), Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), and Copter::ModeStabilize::run().

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wp_bearing()

virtual int32_t Copter::Mode::wp_bearing ( ) const

inlineprotectedvirtual

Reimplemented in Copter::ModeSmartRTL, Copter::ModeRTL, Copter::ModeLoiter, Copter::ModeGuided, Copter::ModeCircle, and Copter::ModeAuto.

Definition at line 96 of file Copter.h.

Referenced by Copter::send_nav_controller_output().

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wp_distance()

virtual uint32_t Copter::Mode::wp_distance ( ) const

inlineprotectedvirtual

Reimplemented in Copter::ModeSmartRTL, Copter::ModeRTL, Copter::ModeLoiter, Copter::ModeGuided, Copter::ModeCircle, and Copter::ModeAuto.

Definition at line 95 of file Copter.h.

Referenced by Copter::send_nav_controller_output().

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zero_throttle_and_relax_ac()

void Copter::Mode::zero_throttle_and_relax_ac ( )

protected

Definition at line 373 of file mode.cpp.

Referenced by Copter::ModeRTL::climb_return_run(), Copter::ModeRTL::descent_run(), Copter::ModeLand::gps_run(), Copter::ModeAuto::land_run(), Copter::ModeRTL::land_run(), Copter::ModeAuto::loiter_run(), Copter::ModeRTL::loiterathome_run(), Copter::ModeAuto::payload_place_run(), Copter::ModeAcro::run(), Copter::ModeAutoTune::run(), Copter::ModeBrake::run(), Copter::ModeCircle::run(), Copter::ModeDrift::run(), Copter::ModePosHold::run(), Copter::ModeStabilize::run(), Copter::ModeFollow::run(), Copter::ModeAuto::spline_run(), Copter::ModeAuto::takeoff_run(), and Copter::ModeAuto::wp_run().

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Friends And Related Function Documentation

AP_Arming_Copter

friend class AP_Arming_Copter

friend

Definition at line 8 of file Copter.h.

Copter

friend class Copter

friend

Definition at line 7 of file Copter.h.

GCS_MAVLINK_Copter

friend class GCS_MAVLINK_Copter

friend

Definition at line 10 of file Copter.h.

ToyMode

friend class ToyMode

friend

Definition at line 9 of file Copter.h.

Member Data Documentation

ahrs

AP_AHRS& Copter::Mode::ahrs

protected

Definition at line 122 of file Copter.h.

Referenced by Copter::ModeAutoTune::autotune_attitude_control(), Copter::ModeAutoTune::backup_gains_and_initialise(), Copter::ModeRTL::compute_return_target(), Copter::ModeAutoTune::currently_level(), Copter::ModeAcro::get_pilot_desired_angle_rates(), Copter::ModeAutoTune::get_poshold_attitude(), Copter::ModeFlip::init(), Copter::ModeRTL::loiterathome_run(), Copter::ModePosHold::poshold_get_wind_comp_lean_angles(), Copter::ModeAutoTune::run(), Copter::ModeDrift::run(), Copter::ModeFlip::run(), Copter::ModePosHold::run(), Copter::ModeThrow::run(), Copter::ModeThrow::throw_attitude_good(), Copter::ModeThrow::throw_detected(), Copter::update_flight_mode(), and Copter::ModeAuto::verify_yaw().

ap

ap_t& Copter::Mode::ap

protected

Definition at line 130 of file Copter.h.

attitude_control

AC_AttitudeControl_t*& Copter::Mode::attitude_control

protected

Definition at line 123 of file Copter.h.

Referenced by Copter::ModeAutoTune::autotune_attitude_control(), Copter::ModeAutoTune::backup_gains_and_initialise(), Copter::ModeAuto::circle_run(), Copter::ModeRTL::climb_return_run(), Copter::ModeRTL::descent_run(), Copter::exit_mode(), Copter::ModeAcro::get_pilot_desired_angle_rates(), land_run_horizontal_control(), Copter::ModeAutoTune::load_intra_test_gains(), Copter::ModeAutoTune::load_orig_gains(), Copter::ModeAutoTune::load_tuned_gains(), Copter::ModeAutoTune::load_twitch_gains(), Copter::ModeAuto::loiter_run(), Copter::ModeRTL::loiterathome_run(), Copter::ModeLand::nogps_run(), Copter::ModeSmartRTL::path_follow_run(), Copter::ModeAuto::payload_place_run_loiter(), Copter::ModeSmartRTL::pre_land_position_run(), Copter::ModeAcro::run(), Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeBrake::run(), Copter::ModeCircle::run(), Copter::ModeDrift::run(), Copter::ModeFlip::run(), Copter::ModeFlowHold::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), Copter::ModeStabilize::run(), Copter::ModeThrow::run(), Copter::ModeAutoTune::save_tuning_gains(), Copter::ModeAuto::spline_run(), Copter::ModeAutoTune::stop(), Copter::ModeSmartRTL::wait_cleanup_run(), Copter::ModeAuto::wp_run(), and zero_throttle_and_relax_ac().

auto_yaw

Copter::Mode::AutoYaw Copter::Mode::auto_yaw

static

Definition at line 73 of file Copter.h.

Referenced by Copter::ModeAuto::circle_movetoedge_start(), Copter::ModeRTL::climb_return_run(), Copter::ModeRTL::climb_start(), Copter::ModeRTL::descent_start(), Copter::ModeAuto::do_mount_control(), Copter::ModeAuto::do_roi(), Copter::ModeAuto::do_yaw(), Copter::ModeAuto::init(), Copter::ModeSmartRTL::init(), Copter::ModeAuto::land_start(), Copter::ModeRTL::land_start(), Copter::ModeAuto::loiter_start(), Copter::ModeRTL::loiterathome_run(), Copter::ModeRTL::loiterathome_start(), Copter::ModeSmartRTL::path_follow_run(), Copter::ModeAuto::payload_place_start(), Copter::ModeSmartRTL::pre_land_position_run(), Copter::ModeRTL::return_start(), Copter::Mode::AutoYaw::set_roi(), Copter::ModeAuto::spline_run(), Copter::ModeAuto::spline_start(), Copter::ModeAuto::takeoff_start(), Copter::ModeAuto::verify_yaw(), Copter::ModeSmartRTL::wait_cleanup_run(), Copter::ModeAuto::wp_run(), and Copter::ModeAuto::wp_start().

channel_pitch

RC_Channel*& Copter::Mode::channel_pitch

protected

Definition at line 126 of file Copter.h.

Referenced by get_pilot_desired_lean_angles(), Copter::ModeFlip::init(), Copter::ModeAcro::run(), Copter::ModeFlip::run(), and Copter::ModeSport::run().

channel_roll

RC_Channel*& Copter::Mode::channel_roll

protected

Definition at line 125 of file Copter.h.

Referenced by get_pilot_desired_lean_angles(), Copter::ModeFlip::init(), Copter::ModeAcro::run(), Copter::ModeFlip::run(), and Copter::ModeSport::run().

channel_throttle

RC_Channel*& Copter::Mode::channel_throttle

protected

Definition at line 127 of file Copter.h.

Referenced by Copter::ModeAcro::init(), Copter::ModeStabilize::init(), Copter::ModeAcro::run(), Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeCircle::run(), Copter::ModeDrift::run(), Copter::ModeFlip::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), and Copter::ModeStabilize::run().

channel_yaw

RC_Channel*& Copter::Mode::channel_yaw

protected

Definition at line 128 of file Copter.h.

Referenced by Copter::ModeRTL::climb_return_run(), Copter::ModeRTL::descent_run(), land_run_horizontal_control(), Copter::ModeAuto::loiter_run(), Copter::ModeRTL::loiterathome_run(), Copter::ModeLand::nogps_run(), Copter::ModeSmartRTL::path_follow_run(), Copter::ModeAcro::run(), Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeCircle::run(), Copter::ModeDrift::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), Copter::ModeStabilize::run(), Copter::ModeAuto::spline_run(), Copter::ModeAuto::takeoff_run(), and Copter::ModeAuto::wp_run().

ekfGndSpdLimit

float& Copter::Mode::ekfGndSpdLimit

protected

Definition at line 134 of file Copter.h.

Referenced by Copter::ModeRTL::descent_run(), land_run_horizontal_control(), Copter::ModeAuto::payload_place_run_loiter(), Copter::ModeBrake::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeThrow::run(), and Copter::update_flight_mode().

ekfNavVelGainScaler

float& Copter::Mode::ekfNavVelGainScaler

protected

Definition at line 137 of file Copter.h.

Referenced by Copter::ModeRTL::descent_run(), land_run_horizontal_control(), Copter::ModeAuto::payload_place_run_loiter(), Copter::ModeBrake::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeThrow::run(), and Copter::update_flight_mode().

g

Parameters& Copter::Mode::g

protected

Definition at line 116 of file Copter.h.

Referenced by Copter::ModeAutoTune::autotune_attitude_control(), Copter::ModeAutoTune::backup_gains_and_initialise(), Copter::ModeRTL::build_path(), Copter::ModeRTL::climb_start(), Copter::ModeRTL::compute_return_target(), Copter::ModeRTL::descent_run(), Copter::ModeAcro::get_pilot_desired_angle_rates(), Copter::ModeCircle::init(), Copter::ModePosHold::init(), Copter::ModeSport::init(), land_run_horizontal_control(), land_run_vertical_control(), Copter::ModeRTL::loiterathome_run(), Copter::ModeLand::nogps_run(), Copter::ModeAutoTune::pitch_enabled(), Copter::ModePosHold::poshold_update_brake_angle_from_velocity(), Copter::ModePosHold::poshold_update_pilot_lean_angle(), Copter::ModeSmartRTL::pre_land_position_run(), Copter::ModeAutoTune::roll_enabled(), Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeCircle::run(), Copter::ModeDrift::run(), Copter::ModeFlip::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), Copter::ModeStabilize::run(), Copter::ModeThrow::run(), Copter::ModeAutoTune::start(), Copter::ModeAutoTune::twitching_test_angle(), Copter::ModeAutoTune::twitching_test_rate(), Copter::ModeAutoTune::updating_angle_p_down(), Copter::ModeAutoTune::updating_angle_p_up(), Copter::ModeAutoTune::updating_rate_d_down(), Copter::ModeAutoTune::updating_rate_d_up(), Copter::ModeAutoTune::updating_rate_p_up_d_down(), and Copter::ModeAutoTune::yaw_enabled().

g2

ParametersG2& Copter::Mode::g2

protected

Definition at line 117 of file Copter.h.

Referenced by Copter::ModeAuto::do_gripper(), Copter::ModeAuto::do_winch(), Copter::ModeSmartRTL::exit(), Copter::ModeSmartRTL::init(), Copter::ModeFollow::init(), land_run_horizontal_control(), land_run_vertical_control(), Copter::mode_from_mode_num(), Copter::ModeSmartRTL::path_follow_run(), Copter::ModeAcro::run(), Copter::ModeThrow::run(), Copter::ModeFollow::run(), Copter::ModeThrow::throw_detected(), Copter::ModeAuto::verify_payload_place(), and Copter::ModeSmartRTL::wait_cleanup_run().

G_Dt

float& Copter::Mode::G_Dt

protected

Definition at line 129 of file Copter.h.

Referenced by Copter::ModeRTL::descent_run(), land_run_horizontal_control(), land_run_vertical_control(), Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeBrake::run(), Copter::ModeCircle::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), Copter::ModeThrow::run(), and Copter::ModeFollow::run().

inertial_nav

AP_InertialNav& Copter::Mode::inertial_nav

protected

Definition at line 121 of file Copter.h.

Referenced by Copter::ModeAuto::circle_movetoedge_start(), Copter::ModeAutoTune::get_poshold_attitude(), Copter::ModeAltHold::init(), Copter::ModeBrake::init(), Copter::ModeLand::init(), Copter::ModeLoiter::init(), Copter::ModePosHold::init(), Copter::ModeSport::init(), land_run_horizontal_control(), Copter::ModeAuto::land_start(), Copter::ModeRTL::land_start(), Copter::ModeAuto::payload_place_start(), Copter::ModePosHold::poshold_update_wind_comp_estimate(), Copter::ModeLoiter::precision_loiter_xy(), Copter::ModeDrift::run(), Copter::ModePosHold::run(), Copter::ModeThrow::run(), Copter::ModeAutoTune::start(), Copter::ModeThrow::throw_detected(), and Copter::ModeAuto::verify_payload_place().

loiter_nav

AC_Loiter*& Copter::Mode::loiter_nav

protected

Definition at line 119 of file Copter.h.

Referenced by Copter::ModeRTL::descent_run(), Copter::ModeRTL::descent_start(), Copter::ModeLoiter::do_precision_loiter(), Copter::ModeLand::gps_run(), Copter::ModeLand::init(), Copter::ModeLoiter::init(), Copter::ModePosHold::init(), Copter::ModeAuto::land_run(), Copter::ModeRTL::land_run(), land_run_horizontal_control(), Copter::ModeAuto::land_start(), Copter::ModeRTL::land_start(), Copter::ModeAuto::payload_place_run(), Copter::ModeAuto::payload_place_run_loiter(), Copter::ModeAuto::payload_place_start(), Copter::ModeLoiter::precision_loiter_xy(), Copter::ModeBrake::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeThrow::run(), Copter::ModeLoiter::wp_bearing(), and Copter::ModeLoiter::wp_distance().

motors

MOTOR_CLASS*& Copter::Mode::motors

protected

Definition at line 124 of file Copter.h.

Referenced by Copter::ModeAutoTune::autotune_attitude_control(), Copter::ModeRTL::climb_return_run(), Copter::ModeRTL::descent_run(), Copter::exit_mode(), Copter::ModeLand::gps_run(), Copter::ModeAcro::init(), Copter::ModeAuto::init(), Copter::ModeFlip::init(), Copter::ModeFlowHold::init(), Copter::ModeStabilize::init(), Copter::ModeThrow::init(), Copter::ModeAuto::land_run(), Copter::ModeRTL::land_run(), Copter::ModeAuto::loiter_run(), Copter::ModeRTL::loiterathome_run(), Copter::ModeLand::nogps_run(), Copter::ModeSmartRTL::path_follow_run(), Copter::ModeAuto::payload_place_run(), Copter::ModeAuto::payload_place_run_should_run(), Copter::ModeSmartRTL::pre_land_position_run(), Copter::ModeAcro::run(), Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeBrake::run(), Copter::ModeCircle::run(), Copter::ModeDrift::run(), Copter::ModeFlip::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), Copter::ModeStabilize::run(), Copter::ModeThrow::run(), Copter::ModeFollow::run(), Copter::ModeSmartRTL::save_position(), Copter::set_mode(), Copter::ModeAuto::spline_run(), Copter::ModeAutoTune::start(), Copter::ModeAuto::takeoff_run(), takeoff_triggered(), Copter::ModeAuto::verify_payload_place(), Copter::ModeSmartRTL::wait_cleanup_run(), Copter::ModeAuto::wp_run(), and zero_throttle_and_relax_ac().

pos_control

AC_PosControl*& Copter::Mode::pos_control

protected

Definition at line 120 of file Copter.h.

Referenced by Copter::ModeAutoTune::autotune_attitude_control(), Copter::ModeRTL::build_path(), Copter::ModeAuto::circle_run(), Copter::ModeRTL::climb_return_run(), Copter::ModeRTL::descent_run(), Copter::ModeRTL::descent_start(), get_alt_above_ground(), Copter::ModeAcro::init(), Copter::ModeAltHold::init(), Copter::ModeBrake::init(), Copter::ModeCircle::init(), Copter::ModeLand::init(), Copter::ModeLoiter::init(), Copter::ModePosHold::init(), Copter::ModeSmartRTL::init(), Copter::ModeSport::init(), Copter::ModeStabilize::init(), land_run_horizontal_control(), land_run_vertical_control(), Copter::ModeAuto::land_start(), Copter::ModeRTL::land_start(), Copter::ModeAuto::loiter_run(), Copter::ModeRTL::loiterathome_run(), Copter::ModeSmartRTL::path_follow_run(), Copter::ModeAuto::payload_place_run_loiter(), Copter::ModeAuto::payload_place_start(), Copter::ModePosHold::poshold_update_wind_comp_estimate(), Copter::ModeSmartRTL::pre_land_position_run(), Copter::ModeLoiter::precision_loiter_xy(), Copter::ModeAltHold::run(), Copter::ModeAutoTune::run(), Copter::ModeBrake::run(), Copter::ModeCircle::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), Copter::ModeSport::run(), Copter::ModeThrow::run(), Copter::ModeFollow::run(), Copter::ModeAuto::spline_run(), Copter::ModeAutoTune::start(), Copter::ModeAuto::takeoff_run(), Copter::ModeThrow::throw_height_good(), Copter::ModeThrow::throw_position_good(), Copter::ModeSmartRTL::wait_cleanup_run(), and Copter::ModeAuto::wp_run().

takeoff_state

takeoff_state_t& Copter::Mode::takeoff_state

protected

Definition at line 131 of file Copter.h.

Referenced by Copter::ModeAltHold::run(), Copter::ModeLoiter::run(), Copter::ModePosHold::run(), and Copter::ModeSport::run().

wp_nav

AC_WPNav*& Copter::Mode::wp_nav

protected

Definition at line 118 of file Copter.h.

Referenced by Copter::ModeAuto::circle_movetoedge_start(), Copter::ModeRTL::climb_return_run(), Copter::ModeRTL::climb_start(), Copter::ModeRTL::descent_start(), Copter::ModeAuto::get_wp(), Copter::ModeAuto::init(), Copter::ModeBrake::init(), Copter::ModeCircle::init(), Copter::ModeLand::init(), Copter::ModeRTL::init(), Copter::ModeSmartRTL::init(), Copter::ModeRTL::land_start(), Copter::ModeAuto::loiter_run(), Copter::ModeAuto::loiter_start(), Copter::ModeRTL::loiterathome_run(), Copter::ModeSmartRTL::path_follow_run(), Copter::ModeAuto::payload_place_run_loiter(), Copter::ModeSmartRTL::pre_land_position_run(), Copter::ModeRTL::return_start(), Copter::ModeBrake::run(), Copter::ModeCircle::run(), Copter::ModeAuto::spline_run(), Copter::ModeAuto::spline_start(), Copter::ModeAuto::takeoff_run(), Copter::ModeAuto::takeoff_start(), Copter::ModeSmartRTL::wait_cleanup_run(), Copter::ModeAuto::wp_bearing(), Copter::ModeRTL::wp_bearing(), Copter::ModeSmartRTL::wp_bearing(), Copter::ModeAuto::wp_distance(), Copter::ModeRTL::wp_distance(), Copter::ModeSmartRTL::wp_distance(), Copter::ModeAuto::wp_run(), and Copter::ModeAuto::wp_start().

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

• ArduCopter/Copter.h
• ArduCopter/autoyaw.cpp
• ArduCopter/mode.cpp