ToyMode Class Reference

#include <toy_mode.h>

Collaboration diagram for ToyMode:

Classes
struct	load_data

Public Member Functions
	ToyMode ()
bool	enabled (void) const
void	update (void)
int16_t	get_throttle_mid (void)
void	throttle_adjust (float &throttle_control)
void	handle_message (mavlink_message_t *msg)
void	load_test_run (void)

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Types
enum	toy_action {   ACTION_NONE = 0, ACTION_TAKE_PHOTO = 1, ACTION_TOGGLE_VIDEO = 2, ACTION_MODE_ACRO = 3,   ACTION_MODE_ALTHOLD = 4, ACTION_MODE_AUTO = 5, ACTION_MODE_LOITER = 6, ACTION_MODE_RTL = 7,   ACTION_MODE_CIRCLE = 8, ACTION_MODE_LAND = 9, ACTION_MODE_DRIFT = 10, ACTION_MODE_SPORT = 11,   ACTION_MODE_AUTOTUNE = 12, ACTION_MODE_POSHOLD = 13, ACTION_MODE_BRAKE = 14, ACTION_MODE_THROW = 15,   ACTION_MODE_FLIP = 16, ACTION_MODE_STAB = 17, ACTION_DISARM = 18, ACTION_TOGGLE_MODE = 19,   ACTION_ARM_LAND_RTL = 20, ACTION_TOGGLE_SIMPLE = 21, ACTION_TOGGLE_SSIMPLE = 22, ACTION_LOAD_TEST = 23,   ACTION_MODE_FLOW = 24 }
enum	toy_flags { FLAG_THR_DISARM = 1<<0, FLAG_THR_ARM = 1<<1, FLAG_UPGRADE_LOITER = 1<<2, FLAG_RTL_CANCEL = 1<<3 }
enum	blink_patterns {   BLINK_FULL = 0xFFFF, BLINK_OFF = 0x0000, BLINK_1 = 0xBFFF, BLINK_2 = 0xAFFF,   BLINK_3 = 0xABFF, BLINK_4 = 0xAAFF, BLINK_6 = 0xAAAF, BLINK_8 = 0xAAAA,   BLINK_NO_RX = 0x1111, BLINK_SLOW_1 = 0xF0FF, BLINK_VSLOW = 0xF000, BLINK_MED_1 = 0xF0F0 }
enum	load_type { LOAD_TYPE_CONSTANT =0, LOAD_TYPE_LOG1 =1, LOAD_TYPE_LOG2 =2 }

Private Member Functions
void	trim_update (void)
void	action_arm (void)
void	blink_update (void)
void	send_named_int (const char *name, int32_t value)
bool	set_and_remember_mode (control_mode_t mode, mode_reason_t reason)
void	thrust_limiting (float *thrust, uint8_t num_motors)
void	arm_check_compass (void)
bool	is_v2450_buttons (void) const
bool	is_f412_buttons (void) const

Private Attributes
enum toy_action	last_action
bool	done_first_update
AP_Int8	enable
AP_Int8	primary_mode [2]
AP_Int8	actions [9]
AP_Int8	trim_auto
AP_Int16	flags
struct {
uint32_t   start_ms
uint16_t   chan [4]
}	trim
uint32_t	power_counter
uint32_t	throttle_low_counter
uint32_t	throttle_high_counter
uint16_t	last_ch5
bool	last_left_button
uint8_t	last_mode_choice
int32_t	left_press_counter
int32_t	right_press_counter
bool	ignore_left_change
int16_t	throttle_mid = 500
uint32_t	throttle_arm_ms
bool	upgrade_to_loiter
uint32_t	last_action_ms
uint32_t	reset_turtle_start_ms
uint32_t	last_video_ms
uint16_t	red_blink_pattern
uint16_t	green_blink_pattern
uint8_t	red_blink_index
uint8_t	green_blink_index
uint16_t	red_blink_count
uint16_t	green_blink_count
uint8_t	blink_disarm
struct {
AP_Float   volt_min
AP_Float   volt_max
AP_Float   thrust_min
AP_Float   thrust_max
}	filter
float	filtered_voltage = 4.0
uint8_t	motor_log_counter
control_mode_t	last_set_mode = LOITER
struct {
bool   running
uint32_t   row
uint8_t   filter_counter
AP_Float   load_mul
AP_Int8   load_filter
AP_Int8   load_type
}	load_test

Static Private Attributes
static const struct load_data	load_data1 []

Friends
class	Copter

Detailed Description

Definition at line 8 of file toy_mode.h.

Member Enumeration Documentation

blink_patterns

enum ToyMode::blink_patterns

private

Enumerator
BLINK_FULL
BLINK_OFF
BLINK_1
BLINK_2
BLINK_3
BLINK_4
BLINK_6
BLINK_8
BLINK_NO_RX
BLINK_SLOW_1
BLINK_VSLOW
BLINK_MED_1

Definition at line 92 of file toy_mode.h.

load_type

enum ToyMode::load_type

private

Enumerator
LOAD_TYPE_CONSTANT
LOAD_TYPE_LOG1
LOAD_TYPE_LOG2

Definition at line 165 of file toy_mode.h.

toy_action

enum ToyMode::toy_action

private

Enumerator
ACTION_NONE
ACTION_TAKE_PHOTO
ACTION_TOGGLE_VIDEO
ACTION_MODE_ACRO
ACTION_MODE_ALTHOLD
ACTION_MODE_AUTO
ACTION_MODE_LOITER
ACTION_MODE_RTL
ACTION_MODE_CIRCLE
ACTION_MODE_LAND
ACTION_MODE_DRIFT
ACTION_MODE_SPORT
ACTION_MODE_AUTOTUNE
ACTION_MODE_POSHOLD
ACTION_MODE_BRAKE
ACTION_MODE_THROW
ACTION_MODE_FLIP
ACTION_MODE_STAB
ACTION_DISARM
ACTION_TOGGLE_MODE
ACTION_ARM_LAND_RTL
ACTION_TOGGLE_SIMPLE
ACTION_TOGGLE_SSIMPLE
ACTION_LOAD_TEST
ACTION_MODE_FLOW

Definition at line 54 of file toy_mode.h.

toy_flags

enum ToyMode::toy_flags

private

Enumerator
FLAG_THR_DISARM
FLAG_THR_ARM
FLAG_UPGRADE_LOITER
FLAG_RTL_CANCEL

Definition at line 85 of file toy_mode.h.

Constructor & Destructor Documentation

ToyMode()

ToyMode::ToyMode

(

)

Member Function Documentation

action_arm()

void ToyMode::action_arm ( void  )

private

arm_check_compass()

void ToyMode::arm_check_compass ( void  )

private

blink_update()

void ToyMode::blink_update ( void  )

private

enabled()

bool ToyMode::enabled ( void  ) const

inline

Definition at line 14 of file toy_mode.h.

Referenced by Copter::arm_motors_check(), Copter::get_pilot_desired_climb_rate(), and Copter::get_throttle_mid().

Here is the call graph for this function:

Here is the caller graph for this function:

get_throttle_mid()

int16_t ToyMode::get_throttle_mid ( void  )

inline

Definition at line 21 of file toy_mode.h.

Referenced by Copter::get_throttle_mid().

Here is the call graph for this function:

Here is the caller graph for this function:

handle_message()

void ToyMode::handle_message

(

mavlink_message_t *

msg

)

Referenced by get_throttle_mid().

Here is the caller graph for this function:

is_f412_buttons()

bool ToyMode::is_f412_buttons ( void  ) const

inlineprivate

Definition at line 50 of file toy_mode.h.

is_v2450_buttons()

bool ToyMode::is_v2450_buttons ( void  ) const

inlineprivate

Definition at line 47 of file toy_mode.h.

load_test_run()

void ToyMode::load_test_run

(

void

)

Referenced by get_throttle_mid().

Here is the caller graph for this function:

send_named_int()

void ToyMode::send_named_int ( const char *  name, int32_t  value  )

private

set_and_remember_mode()

bool ToyMode::set_and_remember_mode ( control_mode_t  mode, mode_reason_t  reason  )

private

throttle_adjust()

void ToyMode::throttle_adjust

(

float &

throttle_control

)

Referenced by Copter::get_pilot_desired_climb_rate(), and get_throttle_mid().

Here is the caller graph for this function:

thrust_limiting()

void ToyMode::thrust_limiting ( float *  thrust, uint8_t  num_motors  )

private

trim_update()

void ToyMode::trim_update ( void  )

private

update()

void ToyMode::update

(

void

)

Referenced by enabled().

Here is the caller graph for this function:

Friends And Related Function Documentation

Copter

friend class Copter

friend

Definition at line 11 of file toy_mode.h.

Member Data Documentation

actions

AP_Int8 ToyMode::actions[9]

private

Definition at line 110 of file toy_mode.h.

blink_disarm

uint8_t ToyMode::blink_disarm

private

Definition at line 144 of file toy_mode.h.

chan

uint16_t ToyMode::chan[4]

Definition at line 116 of file toy_mode.h.

done_first_update

bool ToyMode::done_first_update

private

Definition at line 107 of file toy_mode.h.

enable

AP_Int8 ToyMode::enable

private

Definition at line 108 of file toy_mode.h.

Referenced by enabled(), is_f412_buttons(), and is_v2450_buttons().

filter

struct { ... } ToyMode::filter

filter_counter

uint8_t ToyMode::filter_counter

Definition at line 174 of file toy_mode.h.

filtered_voltage

float ToyMode::filtered_voltage = 4.0

private

Definition at line 154 of file toy_mode.h.

flags

AP_Int16 ToyMode::flags

private

Definition at line 112 of file toy_mode.h.

green_blink_count

uint16_t ToyMode::green_blink_count

private

Definition at line 143 of file toy_mode.h.

green_blink_index

uint8_t ToyMode::green_blink_index

private

Definition at line 141 of file toy_mode.h.

green_blink_pattern

uint16_t ToyMode::green_blink_pattern

private

Definition at line 139 of file toy_mode.h.

ignore_left_change

bool ToyMode::ignore_left_change

private

Definition at line 127 of file toy_mode.h.

last_action

enum toy_action ToyMode::last_action

private

Definition at line 82 of file toy_mode.h.

last_action_ms

uint32_t ToyMode::last_action_ms

private

Definition at line 131 of file toy_mode.h.

last_ch5

uint16_t ToyMode::last_ch5

private

Definition at line 122 of file toy_mode.h.

last_left_button

bool ToyMode::last_left_button

private

Definition at line 123 of file toy_mode.h.

last_mode_choice

uint8_t ToyMode::last_mode_choice

private

Definition at line 124 of file toy_mode.h.

last_set_mode

control_mode_t ToyMode::last_set_mode = LOITER

private

Definition at line 159 of file toy_mode.h.

last_video_ms

uint32_t ToyMode::last_video_ms

private

Definition at line 135 of file toy_mode.h.

left_press_counter

int32_t ToyMode::left_press_counter

private

Definition at line 125 of file toy_mode.h.

load_data1

const struct load_data ToyMode::load_data1[]

staticprivate

Definition at line 180 of file toy_mode.h.

load_filter

AP_Int8 ToyMode::load_filter

Definition at line 176 of file toy_mode.h.

load_mul

AP_Float ToyMode::load_mul

Definition at line 175 of file toy_mode.h.

load_test

struct { ... } ToyMode::load_test

load_type

AP_Int8 ToyMode::load_type

Definition at line 177 of file toy_mode.h.

motor_log_counter

uint8_t ToyMode::motor_log_counter

private

Definition at line 156 of file toy_mode.h.

power_counter

uint32_t ToyMode::power_counter

private

Definition at line 119 of file toy_mode.h.

primary_mode

AP_Int8 ToyMode::primary_mode[2]

private

Definition at line 109 of file toy_mode.h.

red_blink_count

uint16_t ToyMode::red_blink_count

private

Definition at line 142 of file toy_mode.h.

red_blink_index

uint8_t ToyMode::red_blink_index

private

Definition at line 140 of file toy_mode.h.

red_blink_pattern

uint16_t ToyMode::red_blink_pattern

private

Definition at line 138 of file toy_mode.h.

reset_turtle_start_ms

uint32_t ToyMode::reset_turtle_start_ms

private

Definition at line 132 of file toy_mode.h.

right_press_counter

int32_t ToyMode::right_press_counter

private

Definition at line 126 of file toy_mode.h.

row

uint32_t ToyMode::row

Definition at line 173 of file toy_mode.h.

running

bool ToyMode::running

Definition at line 172 of file toy_mode.h.

start_ms

uint32_t ToyMode::start_ms

Definition at line 115 of file toy_mode.h.

throttle_arm_ms

uint32_t ToyMode::throttle_arm_ms

private

Definition at line 129 of file toy_mode.h.

throttle_high_counter

uint32_t ToyMode::throttle_high_counter

private

Definition at line 121 of file toy_mode.h.

throttle_low_counter

uint32_t ToyMode::throttle_low_counter

private

Definition at line 120 of file toy_mode.h.

throttle_mid

int16_t ToyMode::throttle_mid = 500

private

Definition at line 128 of file toy_mode.h.

Referenced by get_throttle_mid().

thrust_max

AP_Float ToyMode::thrust_max

Definition at line 150 of file toy_mode.h.

thrust_min

AP_Float ToyMode::thrust_min

Definition at line 149 of file toy_mode.h.

trim

struct { ... } ToyMode::trim

trim_auto

AP_Int8 ToyMode::trim_auto

private

Definition at line 111 of file toy_mode.h.

upgrade_to_loiter

bool ToyMode::upgrade_to_loiter

private

Definition at line 130 of file toy_mode.h.

var_info

const struct AP_Param::GroupInfo ToyMode::var_info[]

static

Definition at line 33 of file toy_mode.h.

volt_max

AP_Float ToyMode::volt_max

Definition at line 148 of file toy_mode.h.

volt_min

AP_Float ToyMode::volt_min

Definition at line 147 of file toy_mode.h.

---

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

• ArduCopter/toy_mode.h