void Plane::set_mode(enum FlightMode mode)
{
if(control_mode == mode) {
// don't switch modes if we are already in the correct mode.
return;
}
if(g.auto_trim > 0 && control_mode == MANUAL)
trim_control_surfaces();
// perform any cleanup required for prev flight mode
exit_mode(control_mode);
// cancel inverted flight
auto_state.inverted_flight = false;
// don't cross-track when starting a mission
auto_state.next_wp_no_crosstrack = true;
// reset landing check
auto_state.checked_for_autoland = false;
// reset go around command
auto_state.commanded_go_around = false;
// not in pre-flare
auto_state.land_pre_flare = false;
// zero locked course
steer_state.locked_course_err = 0;
// reset crash detection
crash_state.is_crashed = false;
crash_state.impact_detected = false;
// always reset this because we don't know who called set_mode. In evasion
// behavior you should set this flag after set_mode so you know the evasion
// logic is controlling the mode. This allows manual override of the mode
// to exit evasion behavior automatically but if the mode is manually switched
// then we won't resume AUTO after an evasion
adsb_state.is_evading = false;
// set mode
previous_mode = control_mode;
control_mode = mode;
if (previous_mode == AUTOTUNE && control_mode != AUTOTUNE) {
// restore last gains
autotune_restore();
}
// zero initial pitch and highest airspeed on mode change
auto_state.highest_airspeed = 0;
auto_state.initial_pitch_cd = ahrs.pitch_sensor;
// disable taildrag takeoff on mode change
auto_state.fbwa_tdrag_takeoff_mode = false;
// start with previous WP at current location
prev_WP_loc = current_loc;
// new mode means new loiter
loiter.start_time_ms = 0;
// assume non-VTOL mode
auto_state.vtol_mode = false;
switch(control_mode)
{
case INITIALISING:
auto_throttle_mode = true;
break;
case MANUAL:
case STABILIZE:
case TRAINING:
case FLY_BY_WIRE_A:
auto_throttle_mode = false;
break;
case AUTOTUNE:
auto_throttle_mode = false;
autotune_start();
break;
case ACRO:
auto_throttle_mode = false;
acro_state.locked_roll = false;
acro_state.locked_pitch = false;
break;
case CRUISE:
auto_throttle_mode = true;
cruise_state.locked_heading = false;
cruise_state.lock_timer_ms = 0;
set_target_altitude_current();
break;
case FLY_BY_WIRE_B:
auto_throttle_mode = true;
set_target_altitude_current();
break;
case CIRCLE:
// the altitude to circle at is taken from the current altitude
auto_throttle_mode = true;
next_WP_loc.alt = current_loc.alt;
break;
case AUTO:
auto_throttle_mode = true;
auto_state.vtol_mode = false;
next_WP_loc = prev_WP_loc = current_loc;
// start or resume the mission, based on MIS_AUTORESET
mission.start_or_resume();
break;
case RTL:
auto_throttle_mode = true;
prev_WP_loc = current_loc;
do_RTL();
break;
case LOITER:
auto_throttle_mode = true;
do_loiter_at_location();
break;
case GUIDED:
auto_throttle_mode = true;
guided_throttle_passthru = false;
/*
when entering guided mode we set the target as the current
location. This matches the behaviour of the copter code
*/
guided_WP_loc = current_loc;
set_guided_WP();
break;
case QSTABILIZE:
case QHOVER:
case QLOITER:
case QLAND:
if (!quadplane.init_mode()) {
control_mode = previous_mode;
} else {
auto_throttle_mode = false;
auto_state.vtol_mode = true;
}
break;
}
// start with throttle suppressed in auto_throttle modes
throttle_suppressed = auto_throttle_mode;
if (should_log(MASK_LOG_MODE))
DataFlash.Log_Write_Mode(control_mode);
// reset attitude integrators on mode change
rollController.reset_I();
pitchController.reset_I();
yawController.reset_I();
steerController.reset_I();
}
void Plane::set_mode(enum FlightMode mode)
{
if(control_mode == mode) {
// don't switch modes if we are already in the correct mode.
return;
}
if(g.auto_trim > 0 && control_mode == MANUAL)
trim_control_surfaces();
// perform any cleanup required for prev flight mode
exit_mode(control_mode);
// cancel inverted flight
auto_state.inverted_flight = false;
// don't cross-track when starting a mission
auto_state.next_wp_no_crosstrack = true;
// reset landing check
auto_state.checked_for_autoland = false;
// reset go around command
auto_state.commanded_go_around = false;
// zero locked course
steer_state.locked_course_err = 0;
// set mode
previous_mode = control_mode;
control_mode = mode;
if (previous_mode == AUTOTUNE && control_mode != AUTOTUNE) {
// restore last gains
autotune_restore();
}
// zero initial pitch and highest airspeed on mode change
auto_state.highest_airspeed = 0;
auto_state.initial_pitch_cd = ahrs.pitch_sensor;
// disable taildrag takeoff on mode change
auto_state.fbwa_tdrag_takeoff_mode = false;
switch(control_mode)
{
case INITIALISING:
auto_throttle_mode = true;
break;
case MANUAL:
case STABILIZE:
case TRAINING:
case FLY_BY_WIRE_A:
auto_throttle_mode = false;
break;
case AUTOTUNE:
auto_throttle_mode = false;
autotune_start();
break;
case ACRO:
auto_throttle_mode = false;
acro_state.locked_roll = false;
acro_state.locked_pitch = false;
break;
case CRUISE:
auto_throttle_mode = true;
cruise_state.locked_heading = false;
cruise_state.lock_timer_ms = 0;
set_target_altitude_current();
break;
case FLY_BY_WIRE_B:
auto_throttle_mode = true;
set_target_altitude_current();
break;
case CIRCLE:
// the altitude to circle at is taken from the current altitude
auto_throttle_mode = true;
next_WP_loc.alt = current_loc.alt;
break;
case AUTO:
auto_throttle_mode = true;
next_WP_loc = prev_WP_loc = current_loc;
// start or resume the mission, based on MIS_AUTORESET
mission.start_or_resume();
break;
case RTL:
auto_throttle_mode = true;
prev_WP_loc = current_loc;
do_RTL();
break;
case LOITER:
auto_throttle_mode = true;
do_loiter_at_location();
break;
case GUIDED:
auto_throttle_mode = true;
guided_throttle_passthru = false;
/*
when entering guided mode we set the target as the current
location. This matches the behaviour of the copter code
*/
guided_WP_loc = current_loc;
set_guided_WP();
break;
}
// start with throttle suppressed in auto_throttle modes
throttle_suppressed = auto_throttle_mode;
if (should_log(MASK_LOG_MODE))
DataFlash.Log_Write_Mode(control_mode);
// reset attitude integrators on mode change
rollController.reset_I();
pitchController.reset_I();
yawController.reset_I();
steerController.reset_I();
}
void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
{
if(control_mode == mode) {
// don't switch modes if we are already in the correct mode.
return;
}
if(g.auto_trim > 0 && control_mode == MANUAL)
trim_control_surfaces();
// perform any cleanup required for prev flight mode
exit_mode(control_mode);
// cancel inverted flight
auto_state.inverted_flight = false;
// don't cross-track when starting a mission
auto_state.next_wp_no_crosstrack = true;
// reset landing check
auto_state.checked_for_autoland = false;
// reset go around command
auto_state.commanded_go_around = false;
// not in pre-flare
auto_state.land_pre_flare = false;
// zero locked course
steer_state.locked_course_err = 0;
// reset crash detection
crash_state.is_crashed = false;
crash_state.impact_detected = false;
// reset external attitude guidance
guided_state.last_forced_rpy_ms.zero();
guided_state.last_forced_throttle_ms = 0;
// set mode
previous_mode = control_mode;
control_mode = mode;
previous_mode_reason = control_mode_reason;
control_mode_reason = reason;
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.update_control_mode(control_mode);
#endif
if (previous_mode == AUTOTUNE && control_mode != AUTOTUNE) {
// restore last gains
autotune_restore();
}
// zero initial pitch and highest airspeed on mode change
auto_state.highest_airspeed = 0;
auto_state.initial_pitch_cd = ahrs.pitch_sensor;
// disable taildrag takeoff on mode change
auto_state.fbwa_tdrag_takeoff_mode = false;
// start with previous WP at current location
prev_WP_loc = current_loc;
// new mode means new loiter
loiter.start_time_ms = 0;
// assume non-VTOL mode
auto_state.vtol_mode = false;
auto_state.vtol_loiter = false;
switch(control_mode)
{
case INITIALISING:
auto_throttle_mode = true;
auto_navigation_mode = false;
break;
case MANUAL:
case STABILIZE:
case TRAINING:
case FLY_BY_WIRE_A:
auto_throttle_mode = false;
auto_navigation_mode = false;
break;
case AUTOTUNE:
auto_throttle_mode = false;
auto_navigation_mode = false;
autotune_start();
break;
case ACRO:
auto_throttle_mode = false;
auto_navigation_mode = false;
acro_state.locked_roll = false;
acro_state.locked_pitch = false;
break;
case CRUISE:
auto_throttle_mode = true;
auto_navigation_mode = false;
cruise_state.locked_heading = false;
cruise_state.lock_timer_ms = 0;
set_target_altitude_current();
break;
case FLY_BY_WIRE_B:
auto_throttle_mode = true;
auto_navigation_mode = false;
set_target_altitude_current();
break;
case CIRCLE:
// the altitude to circle at is taken from the current altitude
auto_throttle_mode = true;
auto_navigation_mode = true;
next_WP_loc.alt = current_loc.alt;
break;
case AUTO:
auto_throttle_mode = true;
auto_navigation_mode = true;
if (quadplane.available() && quadplane.enable == 2) {
auto_state.vtol_mode = true;
} else {
auto_state.vtol_mode = false;
}
next_WP_loc = prev_WP_loc = current_loc;
// start or resume the mission, based on MIS_AUTORESET
mission.start_or_resume();
break;
case RTL:
auto_throttle_mode = true;
auto_navigation_mode = true;
prev_WP_loc = current_loc;
do_RTL(get_RTL_altitude());
break;
case LOITER:
auto_throttle_mode = true;
auto_navigation_mode = true;
do_loiter_at_location();
break;
case AVOID_ADSB:
case GUIDED:
auto_throttle_mode = true;
auto_navigation_mode = true;
guided_throttle_passthru = false;
/*
when entering guided mode we set the target as the current
location. This matches the behaviour of the copter code
*/
guided_WP_loc = current_loc;
set_guided_WP();
break;
case QSTABILIZE:
case QHOVER:
case QLOITER:
case QLAND:
case QRTL:
auto_navigation_mode = false;
if (!quadplane.init_mode()) {
control_mode = previous_mode;
} else {
auto_throttle_mode = false;
auto_state.vtol_mode = true;
}
break;
}
// start with throttle suppressed in auto_throttle modes
throttle_suppressed = auto_throttle_mode;
adsb.set_is_auto_mode(auto_navigation_mode);
if (should_log(MASK_LOG_MODE))
DataFlash.Log_Write_Mode(control_mode);
// reset attitude integrators on mode change
rollController.reset_I();
pitchController.reset_I();
yawController.reset_I();
steerController.reset_I();
}