#include <mode.h>

Inheritance diagram for ModeAuto:

Public Member Functions
bool	init (bool ignore_checks) override

void	run () override

bool	is_autopilot () const override

bool	requires_GPS () const override

bool	has_manual_throttle () const override

bool	allows_arming (bool from_gcs) const override

bool	in_guided_mode () const

AutoMode	mode () const

bool	loiter_start ()

void	rtl_start ()

void	takeoff_start (const Location &dest_loc)

void	wp_start (const Vector3f &destination)

void	wp_start (const Location_Class &dest_loc)

void	land_start ()

void	land_start (const Vector3f &destination)

void	circle_movetoedge_start (const Location_Class &circle_center, float radius_m)

void	circle_start ()

void	spline_start (const Vector3f &destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Vector3f &next_spline_destination)

void	spline_start (const Location_Class &destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location_Class &next_destination)

void	nav_guided_start ()

bool	landing_gear_should_be_deployed () const override

void	payload_place_start ()

bool	start_command (const AP_Mission::Mission_Command &cmd)

bool	verify_command_callback (const AP_Mission::Mission_Command &cmd)

void	exit_mission ()

bool	do_guided (const AP_Mission::Mission_Command &cmd)

Protected Member Functions
const char *	name () const override

const char *	name4 () const override

uint32_t	wp_distance () const override

int32_t	wp_bearing () const override

bool	get_wp (Location_Class &loc) override

void	run_autopilot () override

Protected Member Functions inherited from Mode
void	update_navigation ()

void	get_pilot_desired_lean_angles (float &roll_out, float &pitch_out, float angle_max, float angle_limit) const

bool	takeoff_triggered (float target_climb_rate) const

void	zero_throttle_and_relax_ac ()

int32_t	get_alt_above_ground (void)

void	land_run_horizontal_control ()

void	land_run_vertical_control (bool pause_descent=false)

float	get_surface_tracking_climb_rate (int16_t target_rate, float current_alt_target, float dt)

float	get_pilot_desired_yaw_rate (int16_t stick_angle)

float	get_pilot_desired_climb_rate (float throttle_control)

float	get_pilot_desired_throttle (int16_t throttle_control, float thr_mid=0.0f)

float	get_non_takeoff_throttle (void)

void	update_simple_mode (void)

bool	set_mode (control_mode_t mode, mode_reason_t reason)

void	set_land_complete (bool b)

GCS_Copter &	gcs ()

void	Log_Write_Event (uint8_t id)

void	set_throttle_takeoff (void)

void	takeoff_timer_start (float alt_cm)

void	takeoff_stop (void)

void	takeoff_get_climb_rates (float &pilot_climb_rate, float &takeoff_climb_rate)

float	get_avoidance_adjusted_climbrate (float target_rate)

uint16_t	get_pilot_speed_dn (void)

Additional Inherited Members
Static Public Attributes inherited from Mode
static AutoYaw	auto_yaw

Protected Attributes inherited from Mode
Parameters &	g

ParametersG2 &	g2

AC_WPNav *&	wp_nav

AC_Loiter *&	loiter_nav

AC_PosControl *&	pos_control

AP_InertialNav &	inertial_nav

AP_AHRS &	ahrs

AC_AttitudeControl_t *&	attitude_control

MOTOR_CLASS *&	motors

RC_Channel *&	channel_roll

RC_Channel *&	channel_pitch

RC_Channel *&	channel_throttle

RC_Channel *&	channel_yaw

float &	G_Dt

ap_t &	ap

takeoff_state_t &	takeoff_state

float &	ekfGndSpdLimit

float &	ekfNavVelGainScaler

heli_flags_t &	heli_flags

Member Function Documentation

◆ allows_arming()

bool ModeAuto::allows_arming ( bool from_gcs ) const

inlineoverridevirtual

Implements Mode.

◆ circle_movetoedge_start()

void ModeAuto::circle_movetoedge_start	(	const Location_Class &	circle_center,
		float	radius_m
	)

◆ circle_start()

void ModeAuto::circle_start ( )

◆ do_guided()

bool ModeAuto::do_guided ( const AP_Mission::Mission_Command & cmd )

◆ exit_mission()

void ModeAuto::exit_mission ( )

◆ get_wp()

bool ModeAuto::get_wp ( Location_Class & loc )

overrideprotectedvirtual

Reimplemented from Mode.

◆ has_manual_throttle()

bool ModeAuto::has_manual_throttle ( ) const

inlineoverridevirtual

Implements Mode.

◆ in_guided_mode()

bool ModeAuto::in_guided_mode ( ) const

inlinevirtual

Reimplemented from Mode.

◆ init()

bool ModeAuto::init ( bool ignore_checks )

overridevirtual

Implements Mode.

◆ is_autopilot()

bool ModeAuto::is_autopilot ( ) const

inlineoverridevirtual

Reimplemented from Mode.

◆ land_start() [1/2]

void ModeAuto::land_start ( )

◆ land_start() [2/2]

void ModeAuto::land_start ( const Vector3f & destination )

◆ landing_gear_should_be_deployed()

bool ModeAuto::landing_gear_should_be_deployed ( ) const

overridevirtual

Reimplemented from Mode.

◆ loiter_start()

bool ModeAuto::loiter_start ( )

◆ mode()

AutoMode ModeAuto::mode ( ) const

inline

◆ name()

const char* ModeAuto::name ( ) const

inlineoverrideprotectedvirtual

Implements Mode.

◆ name4()

const char* ModeAuto::name4 ( ) const

inlineoverrideprotectedvirtual

Implements Mode.

◆ nav_guided_start()

void ModeAuto::nav_guided_start ( )

◆ payload_place_start()

void ModeAuto::payload_place_start ( )

◆ requires_GPS()

bool ModeAuto::requires_GPS ( ) const

inlineoverridevirtual

Implements Mode.

◆ rtl_start()

void ModeAuto::rtl_start ( )

◆ run()

void ModeAuto::run ( )

overridevirtual

Implements Mode.

◆ run_autopilot()

void ModeAuto::run_autopilot ( )

overrideprotectedvirtual

Reimplemented from Mode.

◆ spline_start() [1/2]

void ModeAuto::spline_start	(	const Vector3f &	destination,
		bool	stopped_at_start,
		AC_WPNav::spline_segment_end_type	seg_end_type,
		const Vector3f &	next_spline_destination
	)

◆ spline_start() [2/2]

void ModeAuto::spline_start	(	const Location_Class &	destination,
		bool	stopped_at_start,
		AC_WPNav::spline_segment_end_type	seg_end_type,
		const Location_Class &	next_destination
	)

◆ start_command()

bool ModeAuto::start_command ( const AP_Mission::Mission_Command & cmd )

◆ takeoff_start()

void ModeAuto::takeoff_start ( const Location & dest_loc )

◆ verify_command_callback()

bool ModeAuto::verify_command_callback ( const AP_Mission::Mission_Command & cmd )

◆ wp_bearing()

int32_t ModeAuto::wp_bearing ( ) const

overrideprotectedvirtual

Reimplemented from Mode.

◆ wp_distance()

uint32_t ModeAuto::wp_distance ( ) const

overrideprotectedvirtual

Reimplemented from Mode.

◆ wp_start() [1/2]

void ModeAuto::wp_start ( const Vector3f & destination )

◆ wp_start() [2/2]

void ModeAuto::wp_start ( const Location_Class & dest_loc )

Member Data Documentation

◆ descend_max

float ModeAuto::descend_max

◆ descend_start_altitude

float ModeAuto::descend_start_altitude

◆ descend_start_timestamp

uint32_t ModeAuto::descend_start_timestamp

◆ descend_throttle_level

float ModeAuto::descend_throttle_level

◆ hover_start_timestamp

uint32_t ModeAuto::hover_start_timestamp

◆ hover_throttle_level

float ModeAuto::hover_throttle_level

◆ place_start_timestamp

uint32_t ModeAuto::place_start_timestamp

◆ state

PayloadPlaceStateType ModeAuto::state = PayloadPlaceStateType_Calibrating_Hover_Start

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

C:/GitHub/ardupilot/ArduCopter/mode.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ allows_arming()

◆ circle_movetoedge_start()

◆ circle_start()

◆ do_guided()

◆ exit_mission()

◆ get_wp()

◆ has_manual_throttle()

◆ in_guided_mode()

◆ init()

◆ is_autopilot()

◆ land_start() [1/2]

◆ land_start() [2/2]

◆ landing_gear_should_be_deployed()

◆ loiter_start()

◆ mode()

◆ name()

◆ name4()

◆ nav_guided_start()

◆ payload_place_start()

◆ requires_GPS()

◆ rtl_start()

◆ run()

◆ run_autopilot()

◆ spline_start() [1/2]

◆ spline_start() [2/2]

◆ start_command()

◆ takeoff_start()

◆ verify_command_callback()

◆ wp_bearing()

◆ wp_distance()

◆ wp_start() [1/2]

◆ wp_start() [2/2]

Member Data Documentation

◆ descend_max

◆ descend_start_altitude

◆ descend_start_timestamp

◆ descend_throttle_level

◆ hover_start_timestamp

◆ hover_throttle_level

◆ place_start_timestamp

◆ state