Copter::ModeRTL Class Reference

Inheritance diagram for Copter::ModeRTL:

Collaboration diagram for Copter::ModeRTL:

Public Member Functions
bool	init (bool ignore_checks) override
void	run () override
void	run (bool disarm_on_land)
bool	requires_GPS () const override
bool	has_manual_throttle () const override
bool	allows_arming (bool from_gcs) const override
bool	is_autopilot () const override
RTLState	state ()
bool	state_complete ()
bool	landing_gear_should_be_deployed () const override
void	restart_without_terrain ()

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
void	descent_start ()
void	descent_run ()
void	land_start ()
void	land_run (bool disarm_on_land)
void	set_descent_target_alt (uint32_t alt)
Protected Member Functions inherited from Copter::Mode
void	update_navigation ()
virtual void	run_autopilot ()
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)

Private Member Functions
void	climb_start ()
void	return_start ()
void	climb_return_run ()
void	loiterathome_start ()
void	loiterathome_run ()
void	build_path (bool terrain_following_allowed)
void	compute_return_target (bool terrain_following_allowed)

Private Attributes
RTLState	_state = RTL_InitialClimb
bool	_state_complete = false
struct {
Location_Class   origin_point
Location_Class   climb_target
Location_Class   return_target
Location_Class   descent_target
bool   land
bool   terrain_used
}	rtl_path
uint32_t	_loiter_start_time = 0

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 928 of file Copter.h.

Member Function Documentation

allows_arming()

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

inlineoverridevirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeSmartRTL.

Definition at line 942 of file Copter.h.

build_path()

void Copter::ModeRTL::build_path ( bool  terrain_following_allowed )

private

Definition at line 381 of file mode_rtl.cpp.

Referenced by init(), and restart_without_terrain().

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climb_return_run()

void Copter::ModeRTL::climb_return_run ( )

private

Definition at line 131 of file mode_rtl.cpp.

Referenced by run().

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climb_start()

void Copter::ModeRTL::climb_start ( )

private

Definition at line 91 of file mode_rtl.cpp.

Referenced by init(), and restart_without_terrain().

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compute_return_target()

void Copter::ModeRTL::compute_return_target ( bool  terrain_following_allowed )

private

Definition at line 406 of file mode_rtl.cpp.

Referenced by build_path().

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descent_run()

void Copter::ModeRTL::descent_run ( )

protected

Definition at line 258 of file mode_rtl.cpp.

Referenced by run(), and Copter::ModeSmartRTL::run().

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descent_start()

void Copter::ModeRTL::descent_start ( )

protected

Definition at line 241 of file mode_rtl.cpp.

Referenced by Copter::ModeSmartRTL::pre_land_position_run(), and run().

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has_manual_throttle()

bool Copter::ModeRTL::has_manual_throttle ( ) const

inlineoverridevirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeSmartRTL.

Definition at line 941 of file Copter.h.

init()

bool Copter::ModeRTL::init ( bool  ignore_checks )

overridevirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeSmartRTL.

Definition at line 11 of file mode_rtl.cpp.

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is_autopilot()

bool Copter::ModeRTL::is_autopilot ( ) const

inlineoverridevirtual

Reimplemented from Copter::Mode.

Reimplemented in Copter::ModeSmartRTL.

Definition at line 943 of file Copter.h.

land_run()

void Copter::ModeRTL::land_run ( bool  disarm_on_land )

protected

Definition at line 353 of file mode_rtl.cpp.

Referenced by run(), and Copter::ModeSmartRTL::run().

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land_start()

void Copter::ModeRTL::land_start ( )

protected

Definition at line 320 of file mode_rtl.cpp.

Referenced by Copter::ModeSmartRTL::pre_land_position_run(), and run().

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landing_gear_should_be_deployed()

bool Copter::ModeRTL::landing_gear_should_be_deployed ( ) const

overridevirtual

Reimplemented from Copter::Mode.

Definition at line 338 of file mode_rtl.cpp.

loiterathome_run()

void Copter::ModeRTL::loiterathome_run ( )

private

Definition at line 189 of file mode_rtl.cpp.

Referenced by run().

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loiterathome_start()

void Copter::ModeRTL::loiterathome_start ( )

private

Definition at line 173 of file mode_rtl.cpp.

Referenced by run().

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name()

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

inlineoverrideprotectedvirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeSmartRTL.

Definition at line 956 of file Copter.h.

name4()

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

inlineoverrideprotectedvirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeSmartRTL.

Definition at line 957 of file Copter.h.

requires_GPS()

bool Copter::ModeRTL::requires_GPS ( ) const

inlineoverridevirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeSmartRTL.

Definition at line 940 of file Copter.h.

restart_without_terrain()

void Copter::ModeRTL::restart_without_terrain

(

)

Definition at line 25 of file mode_rtl.cpp.

Referenced by Copter::failsafe_terrain_on_event(), and return_start().

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return_start()

void Copter::ModeRTL::return_start ( )

private

Definition at line 115 of file mode_rtl.cpp.

Referenced by run().

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run() [1/2]

void Copter::ModeRTL::run ( void  )

inlineoverridevirtual

Implements Copter::Mode.

Reimplemented in Copter::ModeSmartRTL.

Definition at line 935 of file Copter.h.

run() [2/2]

void Copter::ModeRTL::run

(

bool

disarm_on_land

)

Definition at line 38 of file mode_rtl.cpp.

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set_descent_target_alt()

void Copter::ModeRTL::set_descent_target_alt ( uint32_t  alt )

inlineprotected

Definition at line 967 of file Copter.h.

Referenced by Copter::ModeSmartRTL::pre_land_position_run().

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state()

RTLState Copter::ModeRTL::state ( )

inline

Definition at line 945 of file Copter.h.

state_complete()

bool Copter::ModeRTL::state_complete ( )

inline

Definition at line 948 of file Copter.h.

wp_bearing()

int32_t Copter::ModeRTL::wp_bearing ( ) const

overrideprotectedvirtual

Reimplemented from Copter::Mode.

Reimplemented in Copter::ModeSmartRTL.

Definition at line 486 of file mode_rtl.cpp.

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wp_distance()

uint32_t Copter::ModeRTL::wp_distance ( ) const

overrideprotectedvirtual

Reimplemented from Copter::Mode.

Reimplemented in Copter::ModeSmartRTL.

Definition at line 481 of file mode_rtl.cpp.

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Member Data Documentation

_loiter_start_time

uint32_t Copter::ModeRTL::_loiter_start_time = 0

private

Definition at line 994 of file Copter.h.

Referenced by loiterathome_run(), and loiterathome_start().

_state

RTLState Copter::ModeRTL::_state = RTL_InitialClimb

private

Definition at line 980 of file Copter.h.

Referenced by climb_start(), descent_start(), land_start(), landing_gear_should_be_deployed(), loiterathome_start(), return_start(), and run().

_state_complete

bool Copter::ModeRTL::_state_complete = false

private

Definition at line 981 of file Copter.h.

Referenced by climb_return_run(), climb_start(), descent_run(), descent_start(), land_run(), land_start(), loiterathome_run(), loiterathome_start(), return_start(), and run().

climb_target

Location_Class Copter::ModeRTL::climb_target

Definition at line 986 of file Copter.h.

descent_target

Location_Class Copter::ModeRTL::descent_target

Definition at line 988 of file Copter.h.

land

bool Copter::ModeRTL::land

Definition at line 989 of file Copter.h.

origin_point

Location_Class Copter::ModeRTL::origin_point

Definition at line 985 of file Copter.h.

return_target

Location_Class Copter::ModeRTL::return_target

Definition at line 987 of file Copter.h.

rtl_path

struct { ... } Copter::ModeRTL::rtl_path

Referenced by build_path(), climb_start(), compute_return_target(), descent_run(), restart_without_terrain(), return_start(), and run().

terrain_used

bool Copter::ModeRTL::terrain_used

Definition at line 990 of file Copter.h.

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

• ArduCopter/Copter.h
• ArduCopter/mode_rtl.cpp