ModeSmartRTL Class Reference

#include <mode.h>

Inheritance diagram for ModeSmartRTL:

Collaboration diagram for ModeSmartRTL:

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
void	save_position ()
void	exit ()
Public Member Functions inherited from ModeRTL
void	run (bool disarm_on_land)
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
Protected Member Functions inherited from ModeRTL
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 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	wait_cleanup_run ()
void	path_follow_run ()
void	pre_land_position_run ()
void	land ()

Private Attributes
SmartRTLState	smart_rtl_state = SmartRTL_PathFollow

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 997 of file mode.h.

Member Function Documentation

allows_arming()

bool ModeSmartRTL::allows_arming ( bool  from_gcs ) const

inlineoverridevirtual

Reimplemented from ModeRTL.

Definition at line 1008 of file mode.h.

exit()

void ModeSmartRTL::exit

(

)

has_manual_throttle()

bool ModeSmartRTL::has_manual_throttle ( ) const

inlineoverridevirtual

Reimplemented from ModeRTL.

Definition at line 1007 of file mode.h.

init()

bool ModeSmartRTL::init ( bool  ignore_checks )

overridevirtual

Reimplemented from ModeRTL.

is_autopilot()

bool ModeSmartRTL::is_autopilot ( ) const

inlineoverridevirtual

Reimplemented from ModeRTL.

Definition at line 1009 of file mode.h.

land()

void ModeSmartRTL::land ( )

private

name()

const char* ModeSmartRTL::name ( ) const

inlineoverrideprotectedvirtual

Reimplemented from ModeRTL.

Definition at line 1016 of file mode.h.

name4()

const char* ModeSmartRTL::name4 ( ) const

inlineoverrideprotectedvirtual

Reimplemented from ModeRTL.

Definition at line 1017 of file mode.h.

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path_follow_run()

void ModeSmartRTL::path_follow_run ( )

private

pre_land_position_run()

void ModeSmartRTL::pre_land_position_run ( )

private

requires_GPS()

bool ModeSmartRTL::requires_GPS ( ) const

inlineoverridevirtual

Reimplemented from ModeRTL.

Definition at line 1006 of file mode.h.

run()

void ModeSmartRTL::run ( )

overridevirtual

Reimplemented from ModeRTL.

save_position()

void ModeSmartRTL::save_position

(

)

wait_cleanup_run()

void ModeSmartRTL::wait_cleanup_run ( )

private

wp_bearing()

int32_t ModeSmartRTL::wp_bearing ( ) const

overrideprotectedvirtual

Reimplemented from ModeRTL.

wp_distance()

uint32_t ModeSmartRTL::wp_distance ( ) const

overrideprotectedvirtual

Reimplemented from ModeRTL.

Member Data Documentation

smart_rtl_state

SmartRTLState ModeSmartRTL::smart_rtl_state = SmartRTL_PathFollow

private

Definition at line 1028 of file mode.h.

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

• ArduCopter/mode.h