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Copter: add and use new afs_mode mode method #28132

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merged 1 commit into from
Sep 24, 2024
Merged

Copter: add and use new afs_mode mode method #28132

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12 changes: 1 addition & 11 deletions ArduCopter/afs_copter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,17 +55,7 @@ void AP_AdvancedFailsafe_Copter::setup_IO_failsafe(void)
*/
AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Copter::afs_mode(void)
{
switch (copter.flightmode->mode_number()) {
case Mode::Number::AUTO:
case Mode::Number::AUTO_RTL:
case Mode::Number::GUIDED:
case Mode::Number::RTL:
case Mode::Number::LAND:
return AP_AdvancedFailsafe::AFS_AUTO;
default:
break;
}
return AP_AdvancedFailsafe::AFS_STABILIZED;
return copter.flightmode->afs_mode();
}

//to force entering auto mode when datalink loss
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29 changes: 29 additions & 0 deletions ArduCopter/mode.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,10 @@
#include <AP_Math/chirp.h>
#include <AP_ExternalControl/AP_ExternalControl_config.h> // TODO why is this needed if Copter.h includes this

#if ADVANCED_FAILSAFE
#include "afs_copter.h"
#endif

class Parameters;
class ParametersG2;

Expand Down Expand Up @@ -130,6 +134,11 @@ class Mode {
virtual bool allows_flip() const { return false; }
virtual bool crash_check_enabled() const { return true; }

#if ADVANCED_FAILSAFE
// Return the type of this mode for use by advanced failsafe
virtual AP_AdvancedFailsafe_Copter::control_mode afs_mode() const { return AP_AdvancedFailsafe_Copter::control_mode::AFS_STABILIZED; }
#endif

#if FRAME_CONFIG == HELI_FRAME
virtual bool allows_inverted() const { return false; };
#endif
Expand Down Expand Up @@ -509,6 +518,11 @@ class ModeAuto : public Mode {
bool allows_inverted() const override { return true; };
#endif

#if ADVANCED_FAILSAFE
// Return the type of this mode for use by advanced failsafe
AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
#endif

// Auto modes
enum class SubMode : uint8_t {
TAKEOFF,
Expand Down Expand Up @@ -1047,6 +1061,11 @@ class ModeGuided : public Mode {

bool requires_terrain_failsafe() const override { return true; }

#if ADVANCED_FAILSAFE
// Return the type of this mode for use by advanced failsafe
AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
#endif

// Sets guided's angular target submode: Using a rotation quaternion, angular velocity, and climbrate or thrust (depends on user option)
// attitude_quat: IF zero: ang_vel (angular velocity) must be provided even if all zeroes
// IF non-zero: attitude_control is performed using both the attitude quaternion and angular velocity
Expand Down Expand Up @@ -1214,6 +1233,11 @@ class ModeLand : public Mode {

bool is_landing() const override { return true; };

#if ADVANCED_FAILSAFE
// Return the type of this mode for use by advanced failsafe
AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
#endif

void do_not_use_GPS();

// returns true if LAND mode is trying to control X/Y position
Expand Down Expand Up @@ -1391,6 +1415,11 @@ class ModeRTL : public Mode {

bool requires_terrain_failsafe() const override { return true; }

#if ADVANCED_FAILSAFE
// Return the type of this mode for use by advanced failsafe
AP_AdvancedFailsafe_Copter::control_mode afs_mode() const override { return AP_AdvancedFailsafe_Copter::control_mode::AFS_AUTO; }
#endif

// for reporting to GCS
bool get_wp(Location &loc) const override;

Expand Down
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