#include <mode.h>

Inheritance diagram for ModeAuto:

Collaboration diagram for ModeAuto:

Public Member Functions
bool	init (bool ignore_checks) override

void	run () override

bool	is_autopilot () const override

bool	requires_GPS () const override

bool	has_manual_throttle () const override

bool	allows_arming (bool from_gcs) const override

bool	in_guided_mode () const

AutoMode	mode () const

bool	loiter_start ()

void	rtl_start ()

void	takeoff_start (const Location &dest_loc)

void	wp_start (const Vector3f &destination)

void	wp_start (const Location_Class &dest_loc)

void	land_start ()

void	land_start (const Vector3f &destination)

void	circle_movetoedge_start (const Location_Class &circle_center, float radius_m)

void	circle_start ()

void	spline_start (const Vector3f &destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Vector3f &next_spline_destination)

void	spline_start (const Location_Class &destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location_Class &next_destination)

void	nav_guided_start ()

bool	landing_gear_should_be_deployed () const override

void	payload_place_start ()

bool	start_command (const AP_Mission::Mission_Command &cmd)

bool	verify_command_callback (const AP_Mission::Mission_Command &cmd)

void	exit_mission ()

bool	do_guided (const AP_Mission::Mission_Command &cmd)

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

bool	get_wp (Location_Class &loc) override

void	run_autopilot () override

Protected Member Functions inherited from Mode
void	update_navigation ()

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
bool	verify_command (const AP_Mission::Mission_Command &cmd)

void	takeoff_run ()

void	wp_run ()

void	spline_run ()

void	land_run ()

void	rtl_run ()

void	circle_run ()

void	nav_guided_run ()

void	loiter_run ()

void	payload_place_start (const Vector3f &destination)

void	payload_place_run ()

bool	payload_place_run_should_run ()

void	payload_place_run_loiter ()

void	payload_place_run_descend ()

void	payload_place_run_release ()

Location_Class	terrain_adjusted_location (const AP_Mission::Mission_Command &cmd) const

void	do_takeoff (const AP_Mission::Mission_Command &cmd)

void	do_nav_wp (const AP_Mission::Mission_Command &cmd)

void	do_land (const AP_Mission::Mission_Command &cmd)

void	do_loiter_unlimited (const AP_Mission::Mission_Command &cmd)

void	do_circle (const AP_Mission::Mission_Command &cmd)

void	do_loiter_time (const AP_Mission::Mission_Command &cmd)

void	do_spline_wp (const AP_Mission::Mission_Command &cmd)

void	do_nav_guided_enable (const AP_Mission::Mission_Command &cmd)

void	do_guided_limits (const AP_Mission::Mission_Command &cmd)

void	do_nav_delay (const AP_Mission::Mission_Command &cmd)

void	do_wait_delay (const AP_Mission::Mission_Command &cmd)

void	do_within_distance (const AP_Mission::Mission_Command &cmd)

void	do_yaw (const AP_Mission::Mission_Command &cmd)

void	do_change_speed (const AP_Mission::Mission_Command &cmd)

void	do_set_home (const AP_Mission::Mission_Command &cmd)

void	do_roi (const AP_Mission::Mission_Command &cmd)

void	do_mount_control (const AP_Mission::Mission_Command &cmd)

void	do_digicam_configure (const AP_Mission::Mission_Command &cmd)

void	do_digicam_control (const AP_Mission::Mission_Command &cmd)

void	do_parachute (const AP_Mission::Mission_Command &cmd)

void	do_gripper (const AP_Mission::Mission_Command &cmd)

void	do_winch (const AP_Mission::Mission_Command &cmd)

void	do_payload_place (const AP_Mission::Mission_Command &cmd)

void	do_RTL (void)

bool	verify_takeoff ()

bool	verify_land ()

bool	verify_payload_place ()

bool	verify_loiter_unlimited ()

bool	verify_loiter_time ()

bool	verify_RTL ()

bool	verify_wait_delay ()

bool	verify_within_distance ()

bool	verify_yaw ()

bool	verify_nav_wp (const AP_Mission::Mission_Command &cmd)

bool	verify_circle (const AP_Mission::Mission_Command &cmd)

bool	verify_spline_wp (const AP_Mission::Mission_Command &cmd)

bool	verify_nav_guided_enable (const AP_Mission::Mission_Command &cmd)

bool	verify_nav_delay (const AP_Mission::Mission_Command &cmd)

void	auto_spline_start (const Location_Class &destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location_Class &next_destination)

Private Attributes
AutoMode	_mode = Auto_TakeOff

uint16_t	loiter_time_max

uint32_t	loiter_time

int32_t	nav_delay_time_max

uint32_t	nav_delay_time_start

int32_t	condition_value

uint32_t	condition_start

LandStateType	land_state = LandStateType_FlyToLocation

struct {
PayloadPlaceStateType state = PayloadPlaceStateType_Calibrating_Hover_Start

uint32_t hover_start_timestamp

float hover_throttle_level

uint32_t descend_start_timestamp

uint32_t place_start_timestamp

float descend_throttle_level

float descend_start_altitude

float descend_max

}	nav_payload_place

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

Protected Attributes inherited from 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

heli_flags_t &	heli_flags

Detailed Description

Definition at line 233 of file mode.h.

Member Function Documentation

◆ allows_arming()

bool ModeAuto::allows_arming ( bool from_gcs ) const

inlineoverridevirtual

Implements Mode.

Definition at line 245 of file mode.h.

◆ auto_spline_start()

void ModeAuto::auto_spline_start	(	const Location_Class &	destination,
		bool	stopped_at_start,
		AC_WPNav::spline_segment_end_type	seg_end_type,
		const Location_Class &	next_destination
	)

private

◆ circle_movetoedge_start()

void ModeAuto::circle_movetoedge_start	(	const Location_Class &	circle_center,
		float	radius_m
	)

◆ circle_run()

void ModeAuto::circle_run ( )

private

◆ circle_start()

void ModeAuto::circle_start ( )

◆ do_change_speed()

void ModeAuto::do_change_speed ( const AP_Mission::Mission_Command & cmd )

private

◆ do_circle()

void ModeAuto::do_circle ( const AP_Mission::Mission_Command & cmd )

private

◆ do_digicam_configure()

void ModeAuto::do_digicam_configure ( const AP_Mission::Mission_Command & cmd )

private

◆ do_digicam_control()

void ModeAuto::do_digicam_control ( const AP_Mission::Mission_Command & cmd )

private

◆ do_gripper()

void ModeAuto::do_gripper ( const AP_Mission::Mission_Command & cmd )

private

◆ do_guided()

bool ModeAuto::do_guided ( const AP_Mission::Mission_Command & cmd )

◆ do_guided_limits()

void ModeAuto::do_guided_limits ( const AP_Mission::Mission_Command & cmd )

private

◆ do_land()

void ModeAuto::do_land ( const AP_Mission::Mission_Command & cmd )

private

◆ do_loiter_time()

void ModeAuto::do_loiter_time ( const AP_Mission::Mission_Command & cmd )

private

◆ do_loiter_unlimited()

void ModeAuto::do_loiter_unlimited ( const AP_Mission::Mission_Command & cmd )

private

◆ do_mount_control()

void ModeAuto::do_mount_control ( const AP_Mission::Mission_Command & cmd )

private

◆ do_nav_delay()

void ModeAuto::do_nav_delay ( const AP_Mission::Mission_Command & cmd )

private

◆ do_nav_guided_enable()

void ModeAuto::do_nav_guided_enable ( const AP_Mission::Mission_Command & cmd )

private

◆ do_nav_wp()

void ModeAuto::do_nav_wp ( const AP_Mission::Mission_Command & cmd )

private

◆ do_parachute()

void ModeAuto::do_parachute ( const AP_Mission::Mission_Command & cmd )

private

◆ do_payload_place()

void ModeAuto::do_payload_place ( const AP_Mission::Mission_Command & cmd )

private

◆ do_roi()

void ModeAuto::do_roi ( const AP_Mission::Mission_Command & cmd )

private

◆ do_RTL()

void ModeAuto::do_RTL ( void )

private

◆ do_set_home()

void ModeAuto::do_set_home ( const AP_Mission::Mission_Command & cmd )

private

◆ do_spline_wp()

void ModeAuto::do_spline_wp ( const AP_Mission::Mission_Command & cmd )

private

◆ do_takeoff()

void ModeAuto::do_takeoff ( const AP_Mission::Mission_Command & cmd )

private

◆ do_wait_delay()

void ModeAuto::do_wait_delay ( const AP_Mission::Mission_Command & cmd )

private

◆ do_winch()

void ModeAuto::do_winch ( const AP_Mission::Mission_Command & cmd )

private

◆ do_within_distance()

void ModeAuto::do_within_distance ( const AP_Mission::Mission_Command & cmd )

private

◆ do_yaw()

void ModeAuto::do_yaw ( const AP_Mission::Mission_Command & cmd )

private

◆ exit_mission()

void ModeAuto::exit_mission ( )

◆ get_wp()

bool ModeAuto::get_wp ( Location_Class & loc )

overrideprotectedvirtual

Reimplemented from Mode.

◆ has_manual_throttle()

bool ModeAuto::has_manual_throttle ( ) const

inlineoverridevirtual

Implements Mode.

Definition at line 244 of file mode.h.

◆ in_guided_mode()

bool ModeAuto::in_guided_mode ( ) const

inlinevirtual

Reimplemented from Mode.

Definition at line 246 of file mode.h.

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◆ init()

bool ModeAuto::init ( bool ignore_checks )

overridevirtual

Implements Mode.

◆ is_autopilot()

bool ModeAuto::is_autopilot ( ) const

inlineoverridevirtual

Reimplemented from Mode.

Definition at line 242 of file mode.h.

◆ land_run()

void ModeAuto::land_run ( )

private

◆ land_start() [1/2]

void ModeAuto::land_start ( )

◆ land_start() [2/2]

void ModeAuto::land_start ( const Vector3f & destination )

◆ landing_gear_should_be_deployed()

bool ModeAuto::landing_gear_should_be_deployed ( ) const

overridevirtual

Reimplemented from Mode.

◆ loiter_run()

void ModeAuto::loiter_run ( )

private

◆ loiter_start()

bool ModeAuto::loiter_start ( )

◆ mode()

AutoMode ModeAuto::mode ( ) const

inline

Definition at line 249 of file mode.h.

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◆ name()

const char* ModeAuto::name ( ) const

inlineoverrideprotectedvirtual

Implements Mode.

Definition at line 278 of file mode.h.

◆ name4()

const char* ModeAuto::name4 ( ) const

inlineoverrideprotectedvirtual

Implements Mode.

Definition at line 279 of file mode.h.

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◆ nav_guided_run()

void ModeAuto::nav_guided_run ( )

private

◆ nav_guided_start()

void ModeAuto::nav_guided_start ( )

◆ payload_place_run()

void ModeAuto::payload_place_run ( )

private

◆ payload_place_run_descend()

void ModeAuto::payload_place_run_descend ( )

private

◆ payload_place_run_loiter()

void ModeAuto::payload_place_run_loiter ( )

private

◆ payload_place_run_release()

void ModeAuto::payload_place_run_release ( )

private

◆ payload_place_run_should_run()

bool ModeAuto::payload_place_run_should_run ( )

private

◆ payload_place_start() [1/2]

void ModeAuto::payload_place_start ( )

◆ payload_place_start() [2/2]

void ModeAuto::payload_place_start ( const Vector3f & destination )

private

◆ requires_GPS()

bool ModeAuto::requires_GPS ( ) const

inlineoverridevirtual

Implements Mode.

Definition at line 243 of file mode.h.

◆ rtl_run()

void ModeAuto::rtl_run ( )

private

◆ rtl_start()

void ModeAuto::rtl_start ( )

◆ run()

void ModeAuto::run ( )

overridevirtual

Implements Mode.

◆ run_autopilot()

void ModeAuto::run_autopilot ( )

overrideprotectedvirtual

Reimplemented from Mode.

◆ spline_run()

void ModeAuto::spline_run ( )

private

◆ spline_start() [1/2]

void ModeAuto::spline_start	(	const Vector3f &	destination,
		bool	stopped_at_start,
		AC_WPNav::spline_segment_end_type	seg_end_type,
		const Vector3f &	next_spline_destination
	)

◆ spline_start() [2/2]

void ModeAuto::spline_start	(	const Location_Class &	destination,
		bool	stopped_at_start,
		AC_WPNav::spline_segment_end_type	seg_end_type,
		const Location_Class &	next_destination
	)

◆ start_command()

bool ModeAuto::start_command ( const AP_Mission::Mission_Command & cmd )

◆ takeoff_run()

void ModeAuto::takeoff_run ( )

private

◆ takeoff_start()

void ModeAuto::takeoff_start ( const Location & dest_loc )

◆ terrain_adjusted_location()

Location_Class ModeAuto::terrain_adjusted_location ( const AP_Mission::Mission_Command & cmd ) const

private

◆ verify_circle()

bool ModeAuto::verify_circle ( const AP_Mission::Mission_Command & cmd )

private

◆ verify_command()

bool ModeAuto::verify_command ( const AP_Mission::Mission_Command & cmd )

private

◆ verify_command_callback()

bool ModeAuto::verify_command_callback ( const AP_Mission::Mission_Command & cmd )

◆ verify_land()

bool ModeAuto::verify_land ( )

private

◆ verify_loiter_time()

bool ModeAuto::verify_loiter_time ( )

private

◆ verify_loiter_unlimited()

bool ModeAuto::verify_loiter_unlimited ( )

private

◆ verify_nav_delay()

bool ModeAuto::verify_nav_delay ( const AP_Mission::Mission_Command & cmd )

private

◆ verify_nav_guided_enable()

bool ModeAuto::verify_nav_guided_enable ( const AP_Mission::Mission_Command & cmd )

private

◆ verify_nav_wp()

bool ModeAuto::verify_nav_wp ( const AP_Mission::Mission_Command & cmd )

private

◆ verify_payload_place()

bool ModeAuto::verify_payload_place ( )

private

◆ verify_RTL()

bool ModeAuto::verify_RTL ( )

private

◆ verify_spline_wp()

bool ModeAuto::verify_spline_wp ( const AP_Mission::Mission_Command & cmd )

private

◆ verify_takeoff()

bool ModeAuto::verify_takeoff ( )

private

◆ verify_wait_delay()

bool ModeAuto::verify_wait_delay ( )

private

◆ verify_within_distance()

bool ModeAuto::verify_within_distance ( )

private

◆ verify_yaw()

bool ModeAuto::verify_yaw ( )

private

◆ wp_bearing()

int32_t ModeAuto::wp_bearing ( ) const

overrideprotectedvirtual

Reimplemented from Mode.

◆ wp_distance()

uint32_t ModeAuto::wp_distance ( ) const

overrideprotectedvirtual

Reimplemented from Mode.

◆ wp_run()

void ModeAuto::wp_run ( )

private

◆ wp_start() [1/2]

void ModeAuto::wp_start ( const Vector3f & destination )

◆ wp_start() [2/2]

void ModeAuto::wp_start ( const Location_Class & dest_loc )

Member Data Documentation

◆ _mode

AutoMode ModeAuto::_mode = Auto_TakeOff

private

Definition at line 306 of file mode.h.

◆ condition_start

uint32_t ModeAuto::condition_start

private

Definition at line 374 of file mode.h.

◆ condition_value

int32_t ModeAuto::condition_value

private

Definition at line 373 of file mode.h.

◆ descend_max

float ModeAuto::descend_max

Definition at line 386 of file mode.h.

◆ descend_start_altitude

float ModeAuto::descend_start_altitude

Definition at line 385 of file mode.h.

◆ descend_start_timestamp

uint32_t ModeAuto::descend_start_timestamp

Definition at line 382 of file mode.h.

◆ descend_throttle_level

float ModeAuto::descend_throttle_level

Definition at line 384 of file mode.h.

◆ hover_start_timestamp

uint32_t ModeAuto::hover_start_timestamp

Definition at line 380 of file mode.h.

◆ hover_throttle_level

float ModeAuto::hover_throttle_level

Definition at line 381 of file mode.h.

◆ land_state

LandStateType ModeAuto::land_state = LandStateType_FlyToLocation

private

Definition at line 376 of file mode.h.

◆ loiter_time

uint32_t ModeAuto::loiter_time

private

Definition at line 366 of file mode.h.

◆ loiter_time_max

uint16_t ModeAuto::loiter_time_max

private

Definition at line 365 of file mode.h.

◆ nav_delay_time_max

int32_t ModeAuto::nav_delay_time_max

private

Definition at line 369 of file mode.h.

◆ nav_delay_time_start

uint32_t ModeAuto::nav_delay_time_start

private

Definition at line 370 of file mode.h.

◆ nav_payload_place

struct { ... } ModeAuto::nav_payload_place

◆ place_start_timestamp

uint32_t ModeAuto::place_start_timestamp

Definition at line 383 of file mode.h.

◆ state

PayloadPlaceStateType ModeAuto::state = PayloadPlaceStateType_Calibrating_Hover_Start

Definition at line 379 of file mode.h.

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

ArduCopter/mode.h

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ allows_arming()

◆ auto_spline_start()

◆ circle_movetoedge_start()

◆ circle_run()

◆ circle_start()

◆ do_change_speed()

◆ do_circle()

◆ do_digicam_configure()

◆ do_digicam_control()

◆ do_gripper()

◆ do_guided()

◆ do_guided_limits()

◆ do_land()

◆ do_loiter_time()

◆ do_loiter_unlimited()

◆ do_mount_control()

◆ do_nav_delay()

◆ do_nav_guided_enable()

◆ do_nav_wp()

◆ do_parachute()

◆ do_payload_place()

◆ do_roi()

◆ do_RTL()

◆ do_set_home()

◆ do_spline_wp()

◆ do_takeoff()

◆ do_wait_delay()

◆ do_winch()

◆ do_within_distance()

◆ do_yaw()

◆ exit_mission()

◆ get_wp()

◆ has_manual_throttle()

◆ in_guided_mode()

◆ init()

◆ is_autopilot()

◆ land_run()

◆ land_start() [1/2]

◆ land_start() [2/2]

◆ landing_gear_should_be_deployed()

◆ loiter_run()

◆ loiter_start()

◆ mode()

◆ name()

◆ name4()

◆ nav_guided_run()

◆ nav_guided_start()

◆ payload_place_run()

◆ payload_place_run_descend()

◆ payload_place_run_loiter()

◆ payload_place_run_release()

◆ payload_place_run_should_run()

◆ payload_place_start() [1/2]

◆ payload_place_start() [2/2]

◆ requires_GPS()

◆ rtl_run()

◆ rtl_start()

◆ run()

◆ run_autopilot()

◆ spline_run()

◆ spline_start() [1/2]

◆ spline_start() [2/2]

◆ start_command()

◆ takeoff_run()

◆ takeoff_start()

◆ terrain_adjusted_location()

◆ verify_circle()

◆ verify_command()

◆ verify_command_callback()

◆ verify_land()

◆ verify_loiter_time()

◆ verify_loiter_unlimited()

◆ verify_nav_delay()