Copter::Mode::AutoYaw Class Reference

#include <Copter.h>

Collaboration diagram for Copter::Mode::AutoYaw:

Public Member Functions
float	yaw ()
autopilot_yaw_mode	mode () const
void	set_mode_to_default (bool rtl)
void	set_mode (autopilot_yaw_mode new_mode)
autopilot_yaw_mode	default_mode (bool rtl) const
float	rate_cds () const
void	set_rate (float new_rate_cds)
void	set_roi (const Location &roi_location)
void	set_fixed_yaw (float angle_deg, float turn_rate_dps, int8_t direction, bool relative_angle)

Private Member Functions
float	look_ahead_yaw ()
float	roi_yaw ()

Private Attributes
uint8_t	_mode = AUTO_YAW_LOOK_AT_NEXT_WP
Vector3f	roi
float	_roi_yaw
int32_t	_fixed_yaw
int16_t	_fixed_yaw_slewrate
float	_look_ahead_yaw
float	_rate_cds
uint8_t	roi_yaw_counter

Detailed Description

Definition at line 18 of file Copter.h.

Member Function Documentation

default_mode()

autopilot_yaw_mode Copter::Mode::AutoYaw::default_mode

(

bool

rtl

)

const

Definition at line 35 of file autoyaw.cpp.

Referenced by Copter::ModeRTL::loiterathome_start(), and set_mode_to_default().

Here is the caller graph for this function:

look_ahead_yaw()

float Copter::Mode::AutoYaw::look_ahead_yaw ( )

private

Definition at line 17 of file autoyaw.cpp.

Referenced by yaw().

Here is the call graph for this function:

Here is the caller graph for this function:

mode()

autopilot_yaw_mode Copter::Mode::AutoYaw::mode ( ) const

inline

Definition at line 26 of file Copter.h.

Referenced by Copter::ModeRTL::climb_return_run(), Copter::ModeAuto::init(), Copter::ModeRTL::loiterathome_run(), Copter::ModeSmartRTL::path_follow_run(), Copter::ModeAuto::spline_run(), Copter::ModeAuto::spline_start(), Copter::ModeAuto::verify_yaw(), Copter::ModeAuto::wp_run(), and Copter::ModeAuto::wp_start().

Here is the caller graph for this function:

rate_cds()

float Copter::Mode::AutoYaw::rate_cds

(

)

const

Definition at line 208 of file autoyaw.cpp.

roi_yaw()

float Copter::Mode::AutoYaw::roi_yaw ( )

private

Definition at line 6 of file autoyaw.cpp.

Referenced by yaw().

Here is the call graph for this function:

Here is the caller graph for this function:

set_fixed_yaw()

void Copter::Mode::AutoYaw::set_fixed_yaw	(	float	angle_deg,
		float	turn_rate_dps,
		int8_t	direction,
		bool	relative_angle
	)

Definition at line 101 of file autoyaw.cpp.

Referenced by Copter::ModeAuto::do_mount_control(), and Copter::ModeAuto::do_yaw().

Here is the call graph for this function:

Here is the caller graph for this function:

set_mode()

void Copter::Mode::AutoYaw::set_mode

(

autopilot_yaw_mode

new_mode

)

Definition at line 59 of file autoyaw.cpp.

Referenced by Copter::ModeAuto::circle_movetoedge_start(), Copter::ModeRTL::climb_return_run(), Copter::ModeRTL::climb_start(), Copter::ModeRTL::descent_start(), Copter::ModeAuto::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(), set_fixed_yaw(), set_mode_to_default(), set_rate(), set_roi(), Copter::ModeAuto::spline_run(), Copter::ModeAuto::takeoff_start(), Copter::ModeAuto::verify_yaw(), and Copter::ModeAuto::wp_run().

Here is the caller graph for this function:

set_mode_to_default()

void Copter::Mode::AutoYaw::set_mode_to_default

(

bool

rtl

)

Definition at line 28 of file autoyaw.cpp.

Referenced by Copter::ModeAuto::circle_movetoedge_start(), Copter::ModeSmartRTL::init(), Copter::ModeRTL::return_start(), set_roi(), Copter::ModeAuto::spline_start(), and Copter::ModeAuto::wp_start().

Here is the call graph for this function:

Here is the caller graph for this function:

set_rate()

void Copter::Mode::AutoYaw::set_rate

(

float

new_rate_cds

)

Definition at line 170 of file autoyaw.cpp.

Here is the call graph for this function:

set_roi()

void Copter::Mode::AutoYaw::set_roi

(

const Location &

roi_location

)

Definition at line 133 of file autoyaw.cpp.

Referenced by Copter::ModeAuto::do_roi().

Here is the call graph for this function:

Here is the caller graph for this function:

yaw()

float Copter::Mode::AutoYaw::yaw

(

)

Definition at line 177 of file autoyaw.cpp.

Referenced by Copter::ModeRTL::climb_return_run(), Copter::ModeRTL::loiterathome_run(), Copter::ModeSmartRTL::path_follow_run(), Copter::ModeSmartRTL::pre_land_position_run(), Copter::ModeAuto::spline_run(), Copter::ModeAuto::verify_yaw(), Copter::ModeSmartRTL::wait_cleanup_run(), and Copter::ModeAuto::wp_run().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

_fixed_yaw

int32_t Copter::Mode::AutoYaw::_fixed_yaw

private

Definition at line 58 of file Copter.h.

Referenced by set_fixed_yaw(), and yaw().

_fixed_yaw_slewrate

int16_t Copter::Mode::AutoYaw::_fixed_yaw_slewrate

private

Definition at line 61 of file Copter.h.

Referenced by set_fixed_yaw().

_look_ahead_yaw

float Copter::Mode::AutoYaw::_look_ahead_yaw

private

Definition at line 64 of file Copter.h.

Referenced by look_ahead_yaw(), and set_mode().

_mode

uint8_t Copter::Mode::AutoYaw::_mode = AUTO_YAW_LOOK_AT_NEXT_WP

private

Definition at line 49 of file Copter.h.

Referenced by rate_cds(), set_mode(), and yaw().

_rate_cds

float Copter::Mode::AutoYaw::_rate_cds

private

Definition at line 67 of file Copter.h.

Referenced by rate_cds(), set_mode(), and set_rate().

_roi_yaw

float Copter::Mode::AutoYaw::_roi_yaw

private

Definition at line 55 of file Copter.h.

Referenced by roi_yaw(), and set_mode().

roi

Vector3f Copter::Mode::AutoYaw::roi

private

Definition at line 52 of file Copter.h.

Referenced by roi_yaw(), and set_roi().

roi_yaw_counter

uint8_t Copter::Mode::AutoYaw::roi_yaw_counter

private

Definition at line 70 of file Copter.h.

Referenced by roi_yaw().

---

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

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