ArduCopter/mode_avoid_adsb.cpp

   1 #include "Copter.h"
   2
   3 /*
   4  * control_avoid.cpp - init and run calls for AP_Avoidance's AVOID flight mode
   5  *
   6  * This re-uses GUIDED mode functions but does not interfere with the GCS or companion computer's
   7  * use of guided mode because the velocity requests arrive from different sources (i.e MAVLink messages
   8  * for GCS and Companion Computers vs the AP_Avoidance_Copter class for adsb avoidance) and inputs from
   9  * each source are only accepted and processed in the appropriate flight mode.
  10  */
  11
  12 // initialise avoid_adsb controller
  13 bool ModeAvoidADSB::init(const bool ignore_checks)
  14 {
  15     // re-use guided mode
  16     return ModeGuided::init(ignore_checks);
  17 }
  18
  19 bool ModeAvoidADSB::set_velocity(const Vector3f& velocity_neu)
  20 {
  21     // check flight mode
  22     if (copter.flightmode->mode_number() != Mode::Number::AVOID_ADSB) {
  23         return false;
  24     }
  25
  26     // re-use guided mode's velocity controller
  27     ModeGuided::set_velocity(velocity_neu);
  28     return true;
  29 }
  30
  31 // runs the AVOID_ADSB controller
  32 void ModeAvoidADSB::run()
  33 {
  34     // re-use guided mode's velocity controller
  35     // Note: this is safe from interference from GCSs and companion computer's whose guided mode
  36     //       position and velocity requests will be ignored while the vehicle is not in guided mode
  37     ModeGuided::run();
  38 }