Copter::ModeFollow Class Reference

Inheritance diagram for Copter::ModeFollow:

Collaboration diagram for Copter::ModeFollow:

Public Member Functions
bool	init (bool ignore_checks) override
void	run () override
bool	requires_GPS () const override
bool	has_manual_throttle () const override
bool	allows_arming (bool from_gcs) const override
bool	is_autopilot () const override
Public Member Functions inherited from Copter::ModeGuided
bool	in_guided_mode () const
void	set_angle (const Quaternion &q, float climb_rate_cms, bool use_yaw_rate, float yaw_rate_rads)
bool	set_destination (const Vector3f &destination, bool use_yaw=false, float yaw_cd=0.0, bool use_yaw_rate=false, float yaw_rate_cds=0.0, bool yaw_relative=false)
bool	set_destination (const Location_Class &dest_loc, bool use_yaw=false, float yaw_cd=0.0, bool use_yaw_rate=false, float yaw_rate_cds=0.0, bool yaw_relative=false)
bool	get_wp (Location_Class &loc) override
void	set_velocity (const Vector3f &velocity, bool use_yaw=false, float yaw_cd=0.0, bool use_yaw_rate=false, float yaw_rate_cds=0.0, bool yaw_relative=false, bool log_request=true)
bool	set_destination_posvel (const Vector3f &destination, const Vector3f &velocity, bool use_yaw=false, float yaw_cd=0.0, bool use_yaw_rate=false, float yaw_rate_cds=0.0, bool yaw_relative=false)
void	limit_clear ()
void	limit_init_time_and_pos ()
void	limit_set (uint32_t timeout_ms, float alt_min_cm, float alt_max_cm, float horiz_max_cm)
bool	limit_check ()
bool	takeoff_start (float final_alt_above_home)
GuidedMode	mode () const
void	angle_control_start ()
void	angle_control_run ()

Protected Member Functions
const char *	name () const override
const char *	name4 () const override
Protected Member Functions inherited from Copter::ModeGuided
uint32_t	wp_distance () const override
int32_t	wp_bearing () const override
Protected Member Functions inherited from Copter::Mode
virtual bool	landing_gear_should_be_deployed () const
void	update_navigation ()
virtual void	run_autopilot ()
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
uint32_t	last_log_ms
Protected Attributes inherited from Copter::Mode
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

Additional Inherited Members
Static Public Attributes inherited from Copter::Mode
static AutoYaw	auto_yaw

Detailed Description

Definition at line 1175 of file Copter.h.

Member Function Documentation

allows_arming()

bool Copter::ModeFollow::allows_arming ( bool  from_gcs ) const

inlineoverridevirtual

Reimplemented from Copter::ModeGuided.

Definition at line 1187 of file Copter.h.

has_manual_throttle()

bool Copter::ModeFollow::has_manual_throttle ( ) const

inlineoverridevirtual

Reimplemented from Copter::ModeGuided.

Definition at line 1186 of file Copter.h.

init()

bool Copter::ModeFollow::init ( bool  ignore_checks )

overridevirtual

Reimplemented from Copter::ModeGuided.

Definition at line 28 of file mode_follow.cpp.

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is_autopilot()

bool Copter::ModeFollow::is_autopilot ( ) const

inlineoverridevirtual

Reimplemented from Copter::ModeGuided.

Definition at line 1188 of file Copter.h.

name()

const char* Copter::ModeFollow::name ( ) const

inlineoverrideprotectedvirtual

Reimplemented from Copter::ModeGuided.

Definition at line 1192 of file Copter.h.

name4()

const char* Copter::ModeFollow::name4 ( ) const

inlineoverrideprotectedvirtual

Reimplemented from Copter::ModeGuided.

Definition at line 1193 of file Copter.h.

requires_GPS()

bool Copter::ModeFollow::requires_GPS ( ) const

inlineoverridevirtual

Reimplemented from Copter::ModeGuided.

Definition at line 1185 of file Copter.h.

run()

void Copter::ModeFollow::run ( void  )

overridevirtual

Reimplemented from Copter::ModeGuided.

Definition at line 38 of file mode_follow.cpp.

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Member Data Documentation

last_log_ms

uint32_t Copter::ModeFollow::last_log_ms

protected

Definition at line 1195 of file Copter.h.

Referenced by run().

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

• ArduCopter/Copter.h
• ArduCopter/mode_follow.cpp