// Create - Contruction of signal inlets and outlets
void *autotune_new(t_symbol *s, int argc, t_atom *argv)
{
unsigned long sr;
int fft_window = 0;
int fft_hop = 0;
t_autotune *x = (t_autotune *)pd_new(autotune_class);
if (argc && argv->a_type == A_FLOAT) // got FFT window
{
fft_window = (int)atom_getint(argv);
if (fft_window < 0) fft_window = 0;
if (!autotune_power_of_two(fft_window)) fft_window = 0;
argv++;
argc--;
}
if (argc && argv->a_type == A_FLOAT) // got hop number
{
fft_hop = (int)atom_getint(argv);
if (fft_hop < 2 || fft_hop > 32) fft_hop = 0;
argv++;
argc--;
}
if (fft_window != 0)
x->cbsize = fft_window;
if (fft_hop != 0)
x->noverlap = fft_hop;
if(sys_getsr()) sr = sys_getsr();
else sr = 44100;
autotune_init(x , sr);
// second argument = number of signal inlets
//dsp_setup((t_object *)x, 1);
//inlet_new(&x->x_obj, &x->x_obj.ob_pd,gensym("signal"));
//inlet_new(&x->x_obj, &x->x_obj.ob_pd,gensym("signal"), gensym("signal"));
//floatinlet_new (&x->x_obj, &x->fAmount);
//inlet_new (&x->x_obj, &x->x_obj.ob_pd, gensym("float"), gensym("correct"));
//floatinlet_new (&x->x_obj, &x->fGlide);
//floatinlet_new (&x->x_obj, &x->fSmooth);
//inlet_new (&x->x_obj, &x->x_obj.ob_pd, gensym("float"), gensym("smooth"));
//floatinlet_new (&x->x_obj, &x->fMix);
//inlet_new (&x->x_obj, &x->x_obj.ob_pd, gensym("float"), gensym("mix"));
//floatinlet_new (&x->x_obj, &x->fShift);
//inlet_new (&x->x_obj, &x->x_obj.ob_pd, gensym("float"), gensym("shift"));
//floatinlet_new (&x->x_obj, &x->fTune);
//inlet_new (&x->x_obj, &x->x_obj.ob_pd, gensym("float"), gensym("tune"));
//floatinlet_new (&x->x_obj, &x->fPersist);
//symbolinlet_new (&x->x_obj, &x->fAmount);
outlet_new(&x->x_obj, gensym("signal"));
//x->f_out = outlet_new(&x->x_obj, &s_float);
x->confout = outlet_new(&x->x_obj, &s_float);
x->periodout = outlet_new(&x->x_obj, &s_float);
//x->confout = outlet_new(x, "float");
//x->periodout = outlet_new(x, "float");
x->clock = clock_new(x,(t_method)autotune_processclock);
x->clockinterval = 10.;
return (x); // Return the pointer
}
// set_mode - change flight mode and perform any necessary initialisation
// optional force parameter used to force the flight mode change (used only first time mode is set)
// returns true if mode was successfully set
// ACRO, STABILIZE, ALTHOLD, LAND, DRIFT and SPORT can always be set successfully but the return state of other flight modes should be checked and the caller should deal with failures appropriately
bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
{
// boolean to record if flight mode could be set
bool success = false;
bool ignore_checks = !motors.armed(); // allow switching to any mode if disarmed. We rely on the arming check to perform
// return immediately if we are already in the desired mode
if (mode == control_mode) {
prev_control_mode = control_mode;
prev_control_mode_reason = control_mode_reason;
control_mode_reason = reason;
return true;
}
switch(mode) {
case ACRO:
#if FRAME_CONFIG == HELI_FRAME
success = heli_acro_init(ignore_checks);
#else
success = acro_init(ignore_checks);
#endif
break;
case STABILIZE:
#if FRAME_CONFIG == HELI_FRAME
success = heli_stabilize_init(ignore_checks);
#else
success = stabilize_init(ignore_checks);
#endif
break;
case ALT_HOLD:
success = althold_init(ignore_checks);
break;
case AUTO:
success = auto_init(ignore_checks);
break;
case CIRCLE:
success = circle_init(ignore_checks);
break;
case LOITER:
success = loiter_init(ignore_checks);
break;
case GUIDED:
success = guided_init(ignore_checks);
break;
case LAND:
success = land_init(ignore_checks);
break;
case RTL:
success = rtl_init(ignore_checks);
break;
case DRIFT:
success = drift_init(ignore_checks);
break;
case SPORT:
success = sport_init(ignore_checks);
break;
case ALT_POS:
success = altpos_init(ignore_checks);
break;
case FLIP:
success = flip_init(ignore_checks);
break;
#if AUTOTUNE_ENABLED == ENABLED
case AUTOTUNE:
success = autotune_init(ignore_checks);
break;
#endif
#if POSHOLD_ENABLED == ENABLED
case POSHOLD:
success = poshold_init(ignore_checks);
break;
#endif
case BRAKE:
success = brake_init(ignore_checks);
break;
case THROW:
success = throw_init(ignore_checks);
break;
case AVOID_ADSB:
success = avoid_adsb_init(ignore_checks);
break;
case GUIDED_NOGPS:
success = guided_nogps_init(ignore_checks);
break;
default:
success = false;
break;
}
// update flight mode
if (success) {
// perform any cleanup required by previous flight mode
exit_mode(control_mode, mode);
prev_control_mode = control_mode;
prev_control_mode_reason = control_mode_reason;
control_mode = mode;
control_mode_reason = reason;
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
adsb.set_is_auto_mode((mode == AUTO) || (mode == RTL) || (mode == GUIDED));
#if AC_FENCE == ENABLED
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
// but it should be harmless to disable the fence temporarily in these situations as well
fence.manual_recovery_start();
#endif
}else{
// Log error that we failed to enter desired flight mode
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
}
// update notify object
if (success) {
notify_flight_mode(control_mode);
}
// return success or failure
return success;
}
// set_mode - change flight mode and perform any necessary initialisation
// optional force parameter used to force the flight mode change (used only first time mode is set)
// returns true if mode was succesfully set
// ACRO, STABILIZE, ALTHOLD, LAND, DRIFT and SPORT can always be set successfully but the return state of other flight modes should be checked and the caller should deal with failures appropriately
bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
{
// boolean to record if flight mode could be set
bool success = false;
bool ignore_checks = false; // Always check for now
// return immediately if we are already in the desired mode
if (mode == control_mode) {
prev_control_mode = control_mode;
prev_control_mode_reason = control_mode_reason;
control_mode_reason = reason;
return true;
}
switch (mode) {
case ACRO:
success = acro_init(ignore_checks);
break;
case STABILIZE:
success = stabilize_init(ignore_checks);
break;
case ALT_HOLD:
success = althold_init(ignore_checks);
break;
case AUTO:
success = auto_init(ignore_checks);
break;
case CIRCLE:
success = circle_init(ignore_checks);
break;
case VELHOLD:
success = velhold_init(ignore_checks);
break;
case GUIDED:
success = guided_init(ignore_checks);
break;
case SURFACE:
success = surface_init(ignore_checks);
break;
#if AUTOTUNE_ENABLED == ENABLED
case AUTOTUNE:
success = autotune_init(ignore_checks);
break;
#endif
#if POSHOLD_ENABLED == ENABLED
case POSHOLD:
success = poshold_init(ignore_checks);
break;
#endif
case MANUAL:
success = manual_init(ignore_checks);
break;
default:
success = false;
break;
}
// update flight mode
if (success) {
// perform any cleanup required by previous flight mode
exit_mode(control_mode, mode);
prev_control_mode = control_mode;
prev_control_mode_reason = control_mode_reason;
control_mode = mode;
control_mode_reason = reason;
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
#if AC_FENCE == ENABLED
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
// but it should be harmless to disable the fence temporarily in these situations as well
fence.manual_recovery_start();
#endif
} else {
// Log error that we failed to enter desired flight mode
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
}
// update notify object
if (success) {
notify_flight_mode(control_mode);
}
// return success or failure
return success;
}
