void autopilot_set_mode(uint8_t new_autopilot_mode)
{
/* force startup mode (default is kill) as long as AHRS is not aligned */
if (!ahrs_is_aligned()) {
new_autopilot_mode = MODE_STARTUP;
}
if (new_autopilot_mode != autopilot_mode) {
/* horizontal mode */
switch (new_autopilot_mode) {
case AP_MODE_FAILSAFE:
#ifndef KILL_AS_FAILSAFE
stabilization_attitude_set_failsafe_setpoint();
guidance_h_mode_changed(GUIDANCE_H_MODE_ATTITUDE);
break;
#endif
case AP_MODE_KILL:
autopilot_in_flight = false;
autopilot_in_flight_counter = 0;
guidance_h_mode_changed(GUIDANCE_H_MODE_KILL);
break;
case AP_MODE_RC_DIRECT:
guidance_h_mode_changed(GUIDANCE_H_MODE_RC_DIRECT);
break;
case AP_MODE_RATE_RC_CLIMB:
case AP_MODE_RATE_DIRECT:
case AP_MODE_RATE_Z_HOLD:
#if USE_STABILIZATION_RATE
guidance_h_mode_changed(GUIDANCE_H_MODE_RATE);
#else
return;
#endif
break;
case AP_MODE_ATTITUDE_RC_CLIMB:
case AP_MODE_ATTITUDE_DIRECT:
case AP_MODE_ATTITUDE_CLIMB:
case AP_MODE_ATTITUDE_Z_HOLD:
guidance_h_mode_changed(GUIDANCE_H_MODE_ATTITUDE);
break;
case AP_MODE_FORWARD:
guidance_h_mode_changed(GUIDANCE_H_MODE_FORWARD);
break;
case AP_MODE_CARE_FREE_DIRECT:
guidance_h_mode_changed(GUIDANCE_H_MODE_CARE_FREE);
break;
case AP_MODE_HOVER_DIRECT:
case AP_MODE_HOVER_CLIMB:
case AP_MODE_HOVER_Z_HOLD:
guidance_h_mode_changed(GUIDANCE_H_MODE_HOVER);
break;
case AP_MODE_HOME:
case AP_MODE_NAV:
guidance_h_mode_changed(GUIDANCE_H_MODE_NAV);
break;
case AP_MODE_MODULE:
#ifdef GUIDANCE_H_MODE_MODULE_SETTING
guidance_h_mode_changed(GUIDANCE_H_MODE_MODULE_SETTING);
#endif
break;
case AP_MODE_FLIP:
guidance_h_mode_changed(GUIDANCE_H_MODE_FLIP);
break;
case AP_MODE_GUIDED:
guidance_h_mode_changed(GUIDANCE_H_MODE_GUIDED);
break;
default:
break;
}
/* vertical mode */
switch (new_autopilot_mode) {
case AP_MODE_FAILSAFE:
#ifndef KILL_AS_FAILSAFE
guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB);
guidance_v_zd_sp = SPEED_BFP_OF_REAL(FAILSAFE_DESCENT_SPEED);
break;
#endif
case AP_MODE_KILL:
autopilot_set_motors_on(FALSE);
stabilization_cmd[COMMAND_THRUST] = 0;
guidance_v_mode_changed(GUIDANCE_V_MODE_KILL);
break;
case AP_MODE_RC_DIRECT:
case AP_MODE_RATE_DIRECT:
case AP_MODE_ATTITUDE_DIRECT:
case AP_MODE_HOVER_DIRECT:
case AP_MODE_CARE_FREE_DIRECT:
case AP_MODE_FORWARD:
guidance_v_mode_changed(GUIDANCE_V_MODE_RC_DIRECT);
break;
case AP_MODE_RATE_RC_CLIMB:
case AP_MODE_ATTITUDE_RC_CLIMB:
guidance_v_mode_changed(GUIDANCE_V_MODE_RC_CLIMB);
break;
case AP_MODE_ATTITUDE_CLIMB:
case AP_MODE_HOVER_CLIMB:
guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB);
break;
case AP_MODE_RATE_Z_HOLD:
case AP_MODE_ATTITUDE_Z_HOLD:
case AP_MODE_HOVER_Z_HOLD:
guidance_v_mode_changed(GUIDANCE_V_MODE_HOVER);
break;
case AP_MODE_HOME:
case AP_MODE_NAV:
guidance_v_mode_changed(GUIDANCE_V_MODE_NAV);
break;
case AP_MODE_MODULE:
#ifdef GUIDANCE_V_MODE_MODULE_SETTING
guidance_v_mode_changed(GUIDANCE_V_MODE_MODULE_SETTING);
#endif
break;
case AP_MODE_FLIP:
guidance_v_mode_changed(GUIDANCE_V_MODE_FLIP);
break;
case AP_MODE_GUIDED:
guidance_v_mode_changed(GUIDANCE_V_MODE_GUIDED);
break;
default:
break;
}
//if switching to rate mode but rate mode is not defined, the function returned
autopilot_mode = new_autopilot_mode;
}
}
void autopilot_set_mode(uint8_t new_autopilot_mode) {
/* force kill mode as long as AHRS is not aligned */
if (!ahrs_is_aligned())
new_autopilot_mode = AP_MODE_KILL;
if (new_autopilot_mode != autopilot_mode) {
/* horizontal mode */
switch (new_autopilot_mode) {
case AP_MODE_FAILSAFE:
#ifndef KILL_AS_FAILSAFE
stabilization_attitude_set_failsafe_setpoint();
guidance_h_mode_changed(GUIDANCE_H_MODE_ATTITUDE);
break;
#endif
case AP_MODE_KILL:
autopilot_in_flight = FALSE;
autopilot_in_flight_counter = 0;
guidance_h_mode_changed(GUIDANCE_H_MODE_KILL);
break;
case AP_MODE_RC_DIRECT:
guidance_h_mode_changed(GUIDANCE_H_MODE_RC_DIRECT);
break;
case AP_MODE_RATE_DIRECT:
case AP_MODE_RATE_Z_HOLD:
guidance_h_mode_changed(GUIDANCE_H_MODE_RATE);
break;
case AP_MODE_ATTITUDE_RC_CLIMB:
case AP_MODE_ATTITUDE_DIRECT:
case AP_MODE_ATTITUDE_CLIMB:
case AP_MODE_ATTITUDE_Z_HOLD:
guidance_h_mode_changed(GUIDANCE_H_MODE_ATTITUDE);
break;
case AP_MODE_FORWARD:
guidance_h_mode_changed(GUIDANCE_H_MODE_FORWARD);
break;
case AP_MODE_CARE_FREE_DIRECT:
guidance_h_mode_changed(GUIDANCE_H_MODE_CARE_FREE);
break;
case AP_MODE_HOVER_DIRECT:
case AP_MODE_HOVER_CLIMB:
case AP_MODE_HOVER_Z_HOLD:
guidance_h_mode_changed(GUIDANCE_H_MODE_HOVER);
break;
case AP_MODE_NAV:
guidance_h_mode_changed(GUIDANCE_H_MODE_NAV);
break;
default:
break;
}
/* vertical mode */
switch (new_autopilot_mode) {
case AP_MODE_FAILSAFE:
#ifndef KILL_AS_FAILSAFE
guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB);
guidance_v_zd_sp = SPEED_BFP_OF_REAL(0.5);
break;
#endif
case AP_MODE_KILL:
autopilot_set_motors_on(FALSE);
stabilization_cmd[COMMAND_THRUST] = 0;
guidance_v_mode_changed(GUIDANCE_V_MODE_KILL);
break;
case AP_MODE_RC_DIRECT:
case AP_MODE_RATE_DIRECT:
case AP_MODE_ATTITUDE_DIRECT:
case AP_MODE_HOVER_DIRECT:
case AP_MODE_CARE_FREE_DIRECT:
case AP_MODE_FORWARD:
guidance_v_mode_changed(GUIDANCE_V_MODE_RC_DIRECT);
break;
case AP_MODE_RATE_RC_CLIMB:
case AP_MODE_ATTITUDE_RC_CLIMB:
guidance_v_mode_changed(GUIDANCE_V_MODE_RC_CLIMB);
break;
case AP_MODE_ATTITUDE_CLIMB:
case AP_MODE_HOVER_CLIMB:
guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB);
break;
case AP_MODE_RATE_Z_HOLD:
case AP_MODE_ATTITUDE_Z_HOLD:
case AP_MODE_HOVER_Z_HOLD:
guidance_v_mode_changed(GUIDANCE_V_MODE_HOVER);
break;
case AP_MODE_NAV:
guidance_v_mode_changed(GUIDANCE_V_MODE_NAV);
break;
default:
break;
}
autopilot_mode = new_autopilot_mode;
}
}
void autopilot_periodic(void) {
RunOnceEvery(NAV_PRESCALER, nav_periodic_task());
#if FAILSAFE_GROUND_DETECT
INFO("Using FAILSAFE_GROUND_DETECT")
if (autopilot_mode == AP_MODE_FAILSAFE && autopilot_detect_ground) {
autopilot_set_mode(AP_MODE_KILL);
autopilot_detect_ground = FALSE;
}
#endif
/* set failsafe commands, if in FAILSAFE or KILL mode */
#if !FAILSAFE_GROUND_DETECT
if (autopilot_mode == AP_MODE_KILL ||
autopilot_mode == AP_MODE_FAILSAFE) {
#else
if (autopilot_mode == AP_MODE_KILL) {
#endif
SetCommands(commands_failsafe);
}
else {
guidance_v_run( autopilot_in_flight );
guidance_h_run( autopilot_in_flight );
SetRotorcraftCommands(stabilization_cmd, autopilot_in_flight, autopilot_motors_on);
}
// when we dont have RC, check in flight by looking at throttle
if (radio_control.status != RC_OK) {
autopilot_check_in_flight_no_rc(autopilot_motors_on);
}
}
void autopilot_set_mode(uint8_t new_autopilot_mode) {
/* force kill mode as long as AHRS is not aligned */
if (!ahrs_is_aligned())
new_autopilot_mode = AP_MODE_KILL;
if (new_autopilot_mode != autopilot_mode) {
/* horizontal mode */
switch (new_autopilot_mode) {
case AP_MODE_FAILSAFE:
#ifndef KILL_AS_FAILSAFE
stabilization_attitude_set_failsafe_setpoint();
guidance_h_mode_changed(GUIDANCE_H_MODE_ATTITUDE);
break;
#endif
case AP_MODE_KILL:
autopilot_set_motors_on(FALSE);
autopilot_in_flight = FALSE;
autopilot_in_flight_counter = 0;
guidance_h_mode_changed(GUIDANCE_H_MODE_KILL);
break;
case AP_MODE_RC_DIRECT:
guidance_h_mode_changed(GUIDANCE_H_MODE_RC_DIRECT);
break;
case AP_MODE_RATE_DIRECT:
case AP_MODE_RATE_Z_HOLD:
guidance_h_mode_changed(GUIDANCE_H_MODE_RATE);
break;
case AP_MODE_ATTITUDE_RC_CLIMB:
case AP_MODE_ATTITUDE_DIRECT:
case AP_MODE_ATTITUDE_CLIMB:
case AP_MODE_ATTITUDE_Z_HOLD:
case AP_MODE_ADAPTIVE_PID:
//guidance_h_mode_changed(GUIDANCE_H_MODE_ADAPTIVE);
guidance_h_mode_changed(GUIDANCE_H_MODE_ATTITUDE);
break;
case AP_MODE_FORWARD:
guidance_h_mode_changed(GUIDANCE_H_MODE_FORWARD);
break;
case AP_MODE_CARE_FREE_DIRECT:
guidance_h_mode_changed(GUIDANCE_H_MODE_CARE_FREE);
break;
case AP_MODE_HOVER_DIRECT:
case AP_MODE_HOVER_CLIMB:
case AP_MODE_HOVER_Z_HOLD:
guidance_h_mode_changed(GUIDANCE_H_MODE_HOVER);
break;
case AP_MODE_NAV:
guidance_h_mode_changed(GUIDANCE_H_MODE_NAV);
break;
default:
break;
}
/* vertical mode */
switch (new_autopilot_mode) {
case AP_MODE_FAILSAFE:
#ifndef KILL_AS_FAILSAFE
guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB);
guidance_v_zd_sp = SPEED_BFP_OF_REAL(0.5);
break;
#endif
case AP_MODE_KILL:
guidance_v_mode_changed(GUIDANCE_V_MODE_KILL);
break;
case AP_MODE_RC_DIRECT:
case AP_MODE_RATE_DIRECT:
case AP_MODE_ATTITUDE_DIRECT:
case AP_MODE_HOVER_DIRECT:
case AP_MODE_CARE_FREE_DIRECT:
case AP_MODE_FORWARD:
case AP_MODE_ADAPTIVE_PID:
guidance_v_mode_changed(GUIDANCE_V_MODE_RC_DIRECT);
break;
case AP_MODE_RATE_RC_CLIMB:
case AP_MODE_ATTITUDE_RC_CLIMB:
guidance_v_mode_changed(GUIDANCE_V_MODE_RC_CLIMB);
break;
case AP_MODE_ATTITUDE_CLIMB:
case AP_MODE_HOVER_CLIMB:
guidance_v_mode_changed(GUIDANCE_V_MODE_CLIMB);
break;
case AP_MODE_RATE_Z_HOLD:
case AP_MODE_ATTITUDE_Z_HOLD:
case AP_MODE_HOVER_Z_HOLD:
case AP_MODE_HOVER_EXTERNAL_GPS: // for now.
guidance_v_mode_changed(GUIDANCE_V_MODE_HOVER);
break;
case AP_MODE_NAV:
guidance_v_mode_changed(GUIDANCE_V_MODE_NAV);
break;
default:
break;
}
autopilot_mode = new_autopilot_mode;
}
}
static inline void autopilot_check_in_flight( bool_t motors_on ) {
if (autopilot_in_flight) {
if (autopilot_in_flight_counter > 0) {
if (THROTTLE_STICK_DOWN()) {
autopilot_in_flight_counter--;
if (autopilot_in_flight_counter == 0) {
autopilot_in_flight = FALSE;
}
}
else { /* !THROTTLE_STICK_DOWN */
autopilot_in_flight_counter = AUTOPILOT_IN_FLIGHT_TIME;
}
}
}
else { /* not in flight */
if (autopilot_in_flight_counter < AUTOPILOT_IN_FLIGHT_TIME &&
motors_on) {
if (!THROTTLE_STICK_DOWN()) {
autopilot_in_flight_counter++;
if (autopilot_in_flight_counter == AUTOPILOT_IN_FLIGHT_TIME)
autopilot_in_flight = TRUE;
}
else { /* THROTTLE_STICK_DOWN */
autopilot_in_flight_counter = 0;
}
}
}
}
void autopilot_set_motors_on(bool_t motors_on) {
if (ahrs_is_aligned() && motors_on)
autopilot_motors_on = TRUE;
else
autopilot_motors_on = FALSE;
kill_throttle = ! autopilot_motors_on;
autopilot_arming_set(autopilot_motors_on);
}
void autopilot_on_rc_frame(void) {
if (kill_switch_is_on())
autopilot_set_mode(AP_MODE_KILL);
else {
uint8_t new_autopilot_mode = 0;
AP_MODE_OF_PPRZ(radio_control.values[RADIO_MODE], new_autopilot_mode);
/* don't enter NAV mode if GPS is lost (this also prevents mode oscillations) */
if (!(new_autopilot_mode == AP_MODE_NAV
#if USE_GPS
&& GpsIsLost()
#endif
))
autopilot_set_mode(new_autopilot_mode);
}
/* if not in FAILSAFE mode check motor and in_flight status, read RC */
if (autopilot_mode > AP_MODE_FAILSAFE) {
/* if there are some commands that should always be set from RC, do it */
#ifdef SetAutoCommandsFromRC
SetAutoCommandsFromRC(commands, radio_control.values);
#endif
/* if not in NAV_MODE set commands from the rc */
#ifdef SetCommandsFromRC
if (autopilot_mode != AP_MODE_NAV) {
SetCommandsFromRC(commands, radio_control.values);
}
#endif
/* an arming sequence is used to start/stop motors */
autopilot_arming_check_motors_on();
kill_throttle = ! autopilot_motors_on;
autopilot_check_in_flight(autopilot_motors_on);
guidance_v_read_rc();
guidance_h_read_rc(autopilot_in_flight);
}
}