Inheritance diagram for Copter::ModeGuided:

Collaboration diagram for Copter::ModeGuided:

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

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

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)

Private Member Functions
void	pos_control_start ()

void	vel_control_start ()

void	posvel_control_start ()

void	takeoff_run ()

void	pos_control_run ()

void	vel_control_run ()

void	posvel_control_run ()

void	set_desired_velocity_with_accel_and_fence_limits (const Vector3f &vel_des)

void	set_yaw_state (bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_angle)

Private Attributes
GuidedMode	guided_mode = Guided_TakeOff

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

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

Detailed Description

Definition at line 743 of file Copter.h.

Member Function Documentation

◆ allows_arming()

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

inlineoverridevirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeFollow, Copter::ModeAvoidADSB, and Copter::ModeGuidedNoGPS.

Definition at line 754 of file Copter.h.

◆ angle_control_run()

void Copter::ModeGuided::angle_control_run ( )

Definition at line 578 of file mode_guided.cpp.

Referenced by Copter::ModeGuidedNoGPS::run().

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◆ angle_control_start()

void Copter::ModeGuided::angle_control_start ( )

Definition at line 147 of file mode_guided.cpp.

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

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◆ get_wp()

bool Copter::ModeGuided::get_wp ( Location_Class & loc )

overridevirtual

Reimplemented from Copter::Mode.

Definition at line 206 of file mode_guided.cpp.

◆ has_manual_throttle()

bool Copter::ModeGuided::has_manual_throttle ( ) const

inlineoverridevirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeFollow, Copter::ModeAvoidADSB, and Copter::ModeGuidedNoGPS.

Definition at line 753 of file Copter.h.

◆ in_guided_mode()

bool Copter::ModeGuided::in_guided_mode ( ) const

inlinevirtual

Reimplemented from Copter::Mode.

Definition at line 756 of file Copter.h.

◆ init()

bool Copter::ModeGuided::init ( bool ignore_checks )

overridevirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeFollow, Copter::ModeAvoidADSB, and Copter::ModeGuidedNoGPS.

Definition at line 39 of file mode_guided.cpp.

Referenced by Copter::ModeAvoidADSB::init(), and Copter::ModeFollow::init().

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◆ is_autopilot()

bool Copter::ModeGuided::is_autopilot ( ) const

inlineoverridevirtual

Reimplemented from Copter::Mode.

Reimplemented in Copter::ModeFollow, Copter::ModeAvoidADSB, and Copter::ModeGuidedNoGPS.

Definition at line 755 of file Copter.h.

◆ limit_check()

bool Copter::ModeGuided::limit_check ( )

Definition at line 712 of file mode_guided.cpp.

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◆ limit_clear()

void Copter::ModeGuided::limit_clear ( )

Definition at line 682 of file mode_guided.cpp.

◆ limit_init_time_and_pos()

void Copter::ModeGuided::limit_init_time_and_pos ( )

Definition at line 701 of file mode_guided.cpp.

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◆ limit_set()

void Copter::ModeGuided::limit_set	(	uint32_t	timeout_ms,
		float	alt_min_cm,
		float	alt_max_cm,
		float	horiz_max_cm
	)

Definition at line 691 of file mode_guided.cpp.

◆ mode()

GuidedMode Copter::ModeGuided::mode ( ) const

inline

Definition at line 772 of file Copter.h.

◆ name()

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

inlineoverrideprotectedvirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeFollow, Copter::ModeAvoidADSB, and Copter::ModeGuidedNoGPS.

Definition at line 779 of file Copter.h.

◆ name4()

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

inlineoverrideprotectedvirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeFollow, Copter::ModeAvoidADSB, and Copter::ModeGuidedNoGPS.

Definition at line 780 of file Copter.h.

◆ pos_control_run()

void Copter::ModeGuided::pos_control_run ( )

private

Definition at line 414 of file mode_guided.cpp.

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◆ pos_control_start()

void Copter::ModeGuided::pos_control_start ( )

private

Definition at line 82 of file mode_guided.cpp.

◆ posvel_control_run()

void Copter::ModeGuided::posvel_control_run ( )

private

Definition at line 510 of file mode_guided.cpp.

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◆ posvel_control_start()

void Copter::ModeGuided::posvel_control_start ( )

private

Definition at line 120 of file mode_guided.cpp.

◆ requires_GPS()

bool Copter::ModeGuided::requires_GPS ( ) const

inlineoverridevirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeFollow, Copter::ModeAvoidADSB, and Copter::ModeGuidedNoGPS.

Definition at line 752 of file Copter.h.

◆ run()

void Copter::ModeGuided::run ( void )

overridevirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeFollow, Copter::ModeAvoidADSB, and Copter::ModeGuidedNoGPS.

Definition at line 334 of file mode_guided.cpp.

Referenced by Copter::ModeAvoidADSB::run(), and Copter::ModeFollow::run().

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◆ set_angle()

void Copter::ModeGuided::set_angle	(	const Quaternion &	q,
		float	climb_rate_cms,
		bool	use_yaw_rate,
		float	yaw_rate_rads
	)

Definition at line 303 of file mode_guided.cpp.

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◆ set_desired_velocity_with_accel_and_fence_limits()

void Copter::ModeGuided::set_desired_velocity_with_accel_and_fence_limits ( const Vector3f & vel_des )

private

Definition at line 636 of file mode_guided.cpp.

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◆ set_destination() [1/2]

bool Copter::ModeGuided::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`
	)

Definition at line 178 of file mode_guided.cpp.

◆ set_destination() [2/2]

bool Copter::ModeGuided::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`
	)

Definition at line 217 of file mode_guided.cpp.

◆ set_destination_posvel()

bool Copter::ModeGuided::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`
	)

Definition at line 271 of file mode_guided.cpp.

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◆ set_velocity()

void Copter::ModeGuided::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`
	)

Definition at line 250 of file mode_guided.cpp.

Referenced by Copter::ModeFollow::run(), and Copter::ModeAvoidADSB::set_velocity().

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◆ set_yaw_state()

void Copter::ModeGuided::set_yaw_state	(	bool	use_yaw,
		float	yaw_cd,
		bool	use_yaw_rate,
		float	yaw_rate_cds,
		bool	relative_angle
	)

private

Definition at line 670 of file mode_guided.cpp.

◆ takeoff_run()

void Copter::ModeGuided::takeoff_run ( )

private

Definition at line 368 of file mode_guided.cpp.

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◆ takeoff_start()

bool Copter::ModeGuided::takeoff_start ( float final_alt_above_home )

Definition at line 54 of file mode_guided.cpp.

Referenced by Copter::do_user_takeoff().

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◆ vel_control_run()

void Copter::ModeGuided::vel_control_run ( )

private

Definition at line 456 of file mode_guided.cpp.

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◆ vel_control_start()

void Copter::ModeGuided::vel_control_start ( )

private

Definition at line 102 of file mode_guided.cpp.

◆ wp_bearing()

int32_t Copter::ModeGuided::wp_bearing ( ) const

overrideprotectedvirtual

Reimplemented from Copter::Mode.

Definition at line 759 of file mode_guided.cpp.

◆ wp_distance()

uint32_t Copter::ModeGuided::wp_distance ( ) const

overrideprotectedvirtual

Reimplemented from Copter::Mode.

Definition at line 745 of file mode_guided.cpp.

Member Data Documentation

◆ guided_mode

GuidedMode Copter::ModeGuided::guided_mode = Guided_TakeOff

private

Definition at line 798 of file Copter.h.

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

ArduCopter/Copter.h
ArduCopter/mode_guided.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ allows_arming()

◆ angle_control_run()

◆ angle_control_start()

◆ get_wp()

◆ has_manual_throttle()

◆ in_guided_mode()

◆ init()

◆ is_autopilot()

◆ limit_check()

◆ limit_clear()

◆ limit_init_time_and_pos()

◆ limit_set()

◆ mode()

◆ name()

◆ name4()

◆ pos_control_run()

◆ pos_control_start()

◆ posvel_control_run()

◆ posvel_control_start()

◆ requires_GPS()

◆ run()

◆ set_angle()

◆ set_desired_velocity_with_accel_and_fence_limits()

◆ set_destination() [1/2]

◆ set_destination() [2/2]

◆ set_destination_posvel()

◆ set_velocity()

◆ set_yaw_state()

◆ takeoff_run()

◆ takeoff_start()

◆ vel_control_run()

◆ vel_control_start()

◆ wp_bearing()

◆ wp_distance()

Member Data Documentation

◆ guided_mode