Mode Class Reference

#include <mode.h>

Inheritance diagram for Mode:

Collaboration diagram for 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
heli_flags_t &	heli_flags

Private Member Functions
	Mode (void)

Friends
class	Copter
class	AP_Arming_Copter
class	ToyMode
class	GCS_MAVLINK_Copter

Detailed Description

Definition at line 5 of file mode.h.

Constructor & Destructor Documentation

Mode()

Mode::Mode ( void  )

private

Member Function Documentation

allows_arming()

virtual bool Mode::allows_arming ( bool  from_gcs ) const

protectedpure virtual

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

Referenced by is_autopilot().

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gcs()

GCS_Copter& Mode::gcs ( )

protected

get_alt_above_ground()

int32_t Mode::get_alt_above_ground ( void  )

protected

Referenced by in_guided_mode().

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get_avoidance_adjusted_climbrate()

float Mode::get_avoidance_adjusted_climbrate ( float  target_rate )

protected

get_non_takeoff_throttle()

float Mode::get_non_takeoff_throttle ( void  )

protected

get_pilot_desired_climb_rate()

float Mode::get_pilot_desired_climb_rate ( float  throttle_control )

protected

get_pilot_desired_lean_angles()

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

protected

Referenced by in_guided_mode().

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get_pilot_desired_throttle()

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

protected

get_pilot_desired_yaw_rate()

float Mode::get_pilot_desired_yaw_rate ( int16_t  stick_angle )

protected

get_pilot_speed_dn()

uint16_t Mode::get_pilot_speed_dn ( void  )

protected

get_surface_tracking_climb_rate()

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

protected

get_wp()

virtual bool Mode::get_wp ( Location_Class &  loc )

inlineprotectedvirtual

Reimplemented in ModeGuided, and ModeAuto.

Definition at line 96 of file mode.h.

Referenced by ModeGuided::in_guided_mode(), and ModeAuto::name4().

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has_manual_throttle()

virtual bool Mode::has_manual_throttle ( ) const

protectedpure virtual

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

Referenced by is_autopilot().

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in_guided_mode()

virtual bool Mode::in_guided_mode ( ) const

inlineprotectedvirtual

Reimplemented in ModeGuided, and ModeAuto.

Definition at line 97 of file mode.h.

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init()

virtual bool Mode::init ( bool  ignore_checks )

protectedpure virtual

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

is_autopilot()

virtual bool Mode::is_autopilot ( ) const

inlineprotectedvirtual

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

Definition at line 79 of file mode.h.

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land_run_horizontal_control()

void Mode::land_run_horizontal_control ( )

protected

Referenced by in_guided_mode().

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land_run_vertical_control()

void Mode::land_run_vertical_control ( bool  pause_descent = false )

protected

Referenced by in_guided_mode().

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landing_gear_should_be_deployed()

virtual bool Mode::landing_gear_should_be_deployed ( ) const

inlineprotectedvirtual

Reimplemented in ModeRTL, ModeLand, and ModeAuto.

Definition at line 84 of file mode.h.

Referenced by ModeAuto::mode(), and ModeRTL::state_complete().

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Log_Write_Event()

void Mode::Log_Write_Event ( uint8_t  id )

protected

name()

virtual const char* Mode::name ( ) const

protectedpure virtual

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

Referenced by landing_gear_should_be_deployed().

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name4()

virtual const char* Mode::name4 ( ) const

protectedpure virtual

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

Referenced by landing_gear_should_be_deployed().

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requires_GPS()

virtual bool Mode::requires_GPS ( ) const

protectedpure virtual

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

Referenced by is_autopilot().

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run()

virtual void Mode::run ( )

protectedpure virtual

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

Referenced by ModeRTL::run().

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run_autopilot()

virtual void Mode::run_autopilot ( )

inlineprotectedvirtual

Reimplemented in ModeAuto.

Definition at line 93 of file mode.h.

Referenced by ModeAuto::name4().

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set_land_complete()

void Mode::set_land_complete ( bool  b )

protected

set_mode()

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

protected

set_throttle_takeoff()

void Mode::set_throttle_takeoff ( void  )

protected

takeoff_get_climb_rates()

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

protected

takeoff_stop()

void Mode::takeoff_stop ( void  )

protected

takeoff_timer_start()

void Mode::takeoff_timer_start ( float  alt_cm )

protected

takeoff_triggered()

bool Mode::takeoff_triggered ( float  target_climb_rate ) const

protected

Referenced by in_guided_mode().

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update_navigation()

void Mode::update_navigation ( )

protected

Referenced by landing_gear_should_be_deployed().

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update_simple_mode()

void Mode::update_simple_mode ( void  )

protected

wp_bearing()

virtual int32_t Mode::wp_bearing ( ) const

inlineprotectedvirtual

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

Definition at line 95 of file mode.h.

Referenced by ModeAuto::name4(), ModeCircle::name4(), ModeGuided::name4(), ModeLoiter::name4(), ModeRTL::name4(), and ModeSmartRTL::name4().

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wp_distance()

virtual uint32_t Mode::wp_distance ( ) const

inlineprotectedvirtual

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

Definition at line 94 of file mode.h.

Referenced by ModeAuto::name4(), ModeCircle::name4(), ModeGuided::name4(), ModeLoiter::name4(), ModeRTL::name4(), and ModeSmartRTL::name4().

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zero_throttle_and_relax_ac()

void Mode::zero_throttle_and_relax_ac ( )

protected

Referenced by in_guided_mode().

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Friends And Related Function Documentation

AP_Arming_Copter

friend class AP_Arming_Copter

friend

Definition at line 7 of file mode.h.

Copter

friend class Copter

friend

Definition at line 6 of file mode.h.

GCS_MAVLINK_Copter

friend class GCS_MAVLINK_Copter

friend

Definition at line 9 of file mode.h.

ToyMode

friend class ToyMode

friend

Definition at line 8 of file mode.h.

Member Data Documentation

ahrs

AP_AHRS& Mode::ahrs

protected

Definition at line 121 of file mode.h.

ap

ap_t& Mode::ap

protected

Definition at line 129 of file mode.h.

attitude_control

AC_AttitudeControl_t*& Mode::attitude_control

protected

Definition at line 122 of file mode.h.

auto_yaw

AutoYaw Mode::auto_yaw

static

Definition at line 72 of file mode.h.

channel_pitch

RC_Channel*& Mode::channel_pitch

protected

Definition at line 125 of file mode.h.

channel_roll

RC_Channel*& Mode::channel_roll

protected

Definition at line 124 of file mode.h.

channel_throttle

RC_Channel*& Mode::channel_throttle

protected

Definition at line 126 of file mode.h.

channel_yaw

RC_Channel*& Mode::channel_yaw

protected

Definition at line 127 of file mode.h.

ekfGndSpdLimit

float& Mode::ekfGndSpdLimit

protected

Definition at line 133 of file mode.h.

ekfNavVelGainScaler

float& Mode::ekfNavVelGainScaler

protected

Definition at line 136 of file mode.h.

g

Parameters& Mode::g

protected

Definition at line 115 of file mode.h.

g2

ParametersG2& Mode::g2

protected

Definition at line 116 of file mode.h.

G_Dt

float& Mode::G_Dt

protected

Definition at line 128 of file mode.h.

heli_flags

heli_flags_t& Mode::heli_flags

protected

Definition at line 139 of file mode.h.

inertial_nav

AP_InertialNav& Mode::inertial_nav

protected

Definition at line 120 of file mode.h.

loiter_nav

AC_Loiter*& Mode::loiter_nav

protected

Definition at line 118 of file mode.h.

motors

MOTOR_CLASS*& Mode::motors

protected

Definition at line 123 of file mode.h.

pos_control

AC_PosControl*& Mode::pos_control

protected

Definition at line 119 of file mode.h.

takeoff_state

takeoff_state_t& Mode::takeoff_state

protected

Definition at line 130 of file mode.h.

wp_nav

AC_WPNav*& Mode::wp_nav

protected

Definition at line 117 of file mode.h.

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

• ArduCopter/mode.h