ModeThrow Class Reference

#include <mode.h>

Inheritance diagram for ModeThrow:

Collaboration diagram for ModeThrow:

Public Types
enum	ThrowModeType { ThrowType_Upward = 0, ThrowType_Drop = 1 }

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

Protected Member Functions
const char *	name () const override
const char *	name4 () const override
Protected Member Functions inherited from Mode
virtual bool	landing_gear_should_be_deployed () const
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)

Private Types
enum	ThrowModeStage {   Throw_Disarmed, Throw_Detecting, Throw_Uprighting, Throw_HgtStabilise,   Throw_PosHold }

Private Member Functions
bool	throw_detected ()
bool	throw_position_good ()
bool	throw_height_good ()
bool	throw_attitude_good ()

Private Attributes
ThrowModeStage	stage = Throw_Disarmed
ThrowModeStage	prev_stage = Throw_Disarmed
uint32_t	last_log_ms
bool	nextmode_attempted
uint32_t	free_fall_start_ms
float	free_fall_start_velz

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 1098 of file mode.h.

Member Enumeration Documentation

ThrowModeStage

enum ModeThrow::ThrowModeStage

private

Enumerator
Throw_Disarmed
Throw_Detecting
Throw_Uprighting
Throw_HgtStabilise
Throw_PosHold

Definition at line 1131 of file mode.h.

ThrowModeType

enum ModeThrow::ThrowModeType

Enumerator
ThrowType_Upward
ThrowType_Drop

Definition at line 1113 of file mode.h.

Member Function Documentation

allows_arming()

bool ModeThrow::allows_arming ( bool  from_gcs ) const

inlineoverridevirtual

Implements Mode.

Definition at line 1109 of file mode.h.

has_manual_throttle()

bool ModeThrow::has_manual_throttle ( ) const

inlineoverridevirtual

Implements Mode.

Definition at line 1108 of file mode.h.

init()

bool ModeThrow::init ( bool  ignore_checks )

overridevirtual

Implements Mode.

is_autopilot()

bool ModeThrow::is_autopilot ( ) const

inlineoverridevirtual

Reimplemented from Mode.

Definition at line 1110 of file mode.h.

name()

const char* ModeThrow::name ( ) const

inlineoverrideprotectedvirtual

Implements Mode.

Definition at line 1120 of file mode.h.

name4()

const char* ModeThrow::name4 ( ) const

inlineoverrideprotectedvirtual

Implements Mode.

Definition at line 1121 of file mode.h.

requires_GPS()

bool ModeThrow::requires_GPS ( ) const

inlineoverridevirtual

Implements Mode.

Definition at line 1107 of file mode.h.

run()

void ModeThrow::run ( )

overridevirtual

Implements Mode.

throw_attitude_good()

bool ModeThrow::throw_attitude_good ( )

private

throw_detected()

bool ModeThrow::throw_detected ( )

private

throw_height_good()

bool ModeThrow::throw_height_good ( )

private

throw_position_good()

bool ModeThrow::throw_position_good ( )

private

Member Data Documentation

free_fall_start_ms

uint32_t ModeThrow::free_fall_start_ms

private

Definition at line 1143 of file mode.h.

free_fall_start_velz

float ModeThrow::free_fall_start_velz

private

Definition at line 1144 of file mode.h.

last_log_ms

uint32_t ModeThrow::last_log_ms

private

Definition at line 1141 of file mode.h.

nextmode_attempted

bool ModeThrow::nextmode_attempted

private

Definition at line 1142 of file mode.h.

prev_stage

ThrowModeStage ModeThrow::prev_stage = Throw_Disarmed

private

Definition at line 1140 of file mode.h.

stage

ThrowModeStage ModeThrow::stage = Throw_Disarmed

private

Definition at line 1139 of file mode.h.

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

• ArduCopter/mode.h