ArduCopter/toy_mode.h

   1 #pragma once
   2
   3 #include <stdint.h>
   4 #include <AP_Param/AP_Param.h>
   5 #include "mode.h"
   6
   7 /*
   8   class to support "toy" mode for simplified user interaction for
   9   large volume consumer vehicles
  10  */
  11
  12 class ToyMode
  13 {
  14 public:
  15     friend class Copter;
  16
  17     ToyMode();
  18     bool enabled(void) const {
  19         return enable.get() != 0;
  20     }
  21
  22     void update(void);
  23
  24     // get throttle mid-point
  25     int16_t get_throttle_mid(void) {
  26         return throttle_mid;
  27     }
  28
  29     // adjust throttle for throttle takeoff
  30     void throttle_adjust(float &throttle_control);
  31
  32     // handle mavlink message
  33     void handle_message(const mavlink_message_t &msg);
  34
  35     void load_test_run(void);
  36
  37     static const struct AP_Param::GroupInfo var_info[];
  38
  39 private:
  40
  41     void trim_update(void);
  42     void action_arm(void);
  43     void blink_update(void);
  44     void send_named_int(const char *name, int32_t value);
  45     bool set_and_remember_mode(Mode::Number mode, ModeReason reason);
  46
  47     void thrust_limiting(float *thrust, uint8_t num_motors);
  48     void arm_check_compass(void);
  49
  50     // work out type of button setup
  51     bool is_v2450_buttons(void) const {
  52         return enable == 1;
  53     }
  54     bool is_f412_buttons(void) const {
  55         return enable == 2;
  56     }
  57
  58     enum toy_action {
  59         ACTION_NONE         = 0,
  60         ACTION_TAKE_PHOTO   = 1,
  61         ACTION_TOGGLE_VIDEO = 2,
  62         ACTION_MODE_ACRO    = 3,
  63         ACTION_MODE_ALTHOLD = 4,
  64         ACTION_MODE_AUTO    = 5,
  65         ACTION_MODE_LOITER  = 6,
  66         ACTION_MODE_RTL     = 7,
  67         ACTION_MODE_CIRCLE  = 8,
  68         ACTION_MODE_LAND    = 9,
  69         ACTION_MODE_DRIFT   = 10,
  70         ACTION_MODE_SPORT   = 11,
  71         ACTION_MODE_AUTOTUNE= 12,
  72         ACTION_MODE_POSHOLD = 13,
  73         ACTION_MODE_BRAKE   = 14,
  74         ACTION_MODE_THROW   = 15,
  75         ACTION_MODE_FLIP    = 16,
  76         ACTION_MODE_STAB    = 17,
  77         ACTION_DISARM       = 18,
  78         ACTION_TOGGLE_MODE  = 19,
  79         ACTION_ARM_LAND_RTL = 20,
  80         ACTION_TOGGLE_SIMPLE = 21,
  81         ACTION_TOGGLE_SSIMPLE = 22,
  82         ACTION_LOAD_TEST = 23,
  83         ACTION_MODE_FLOW = 24,
  84     };
  85
  86     enum toy_action last_action;
  87
  88     // these are bitmask indexes for TMODE_FLAGS
  89     enum toy_flags {
  90         FLAG_THR_DISARM     = 1<<0,  // disarm on low throttle
  91         FLAG_THR_ARM        = 1<<1,  // arm on high throttle
  92         FLAG_UPGRADE_LOITER = 1<<2,  // auto upgrade from ALT_HOLD to LOITER
  93         FLAG_RTL_CANCEL     = 1<<3,  // cancel RTL on large stick input
  94     };
  95
  96     enum blink_patterns {
  97         BLINK_FULL   = 0xFFFF,
  98         BLINK_OFF    = 0x0000,
  99         BLINK_1      = 0xBFFF,
 100         BLINK_2      = 0xAFFF,
 101         BLINK_3      = 0xABFF,
 102         BLINK_4      = 0xAAFF,
 103         BLINK_6      = 0xAAAF,
 104         BLINK_8      = 0xAAAA,
 105         BLINK_NO_RX  = 0x1111,
 106         BLINK_SLOW_1 = 0xF0FF,
 107         BLINK_VSLOW  = 0xF000,
 108         BLINK_MED_1  = 0xF0F0,
 109     };
 110
 111     bool done_first_update;
 112     AP_Int8 enable;
 113     AP_Int8 primary_mode[2];
 114     AP_Int8 actions[9];
 115     AP_Int8 trim_auto;
 116     AP_Int16 flags;
 117
 118     struct {
 119         uint32_t start_ms;
 120         uint16_t chan[4];
 121     } trim;
 122
 123     uint32_t power_counter;
 124     uint32_t throttle_low_counter;
 125     uint32_t throttle_high_counter;
 126     uint16_t last_ch5;
 127     bool last_left_button;
 128     uint8_t last_mode_choice;
 129     int32_t left_press_counter;
 130     int32_t right_press_counter;
 131     bool ignore_left_change;
 132     int16_t throttle_mid = 500;
 133     uint32_t throttle_arm_ms;
 134     bool upgrade_to_loiter;
 135     uint32_t last_action_ms;
 136     uint32_t reset_turtle_start_ms;
 137
 138     // time when we were last told we are recording video
 139     uint32_t last_video_ms;
 140
 141     // current blink indexes
 142     uint16_t red_blink_pattern;
 143     uint16_t green_blink_pattern;
 144     uint8_t red_blink_index;
 145     uint8_t green_blink_index;
 146     uint16_t red_blink_count;
 147     uint16_t green_blink_count;
 148     uint8_t blink_disarm;
 149
 150     struct {
 151         AP_Float volt_min;
 152         AP_Float volt_max;
 153         AP_Float thrust_min;
 154         AP_Float thrust_max;
 155     } filter;
 156
 157     // low-pass voltage
 158     float filtered_voltage = 4.0;
 159
 160     uint8_t motor_log_counter;
 161
 162     // remember the last mode we set
 163     Mode::Number last_set_mode = Mode::Number::LOITER;
 164
 165     struct load_data {
 166         uint16_t m[4];
 167     };
 168
 169     enum load_type {
 170         LOAD_TYPE_CONSTANT=0,
 171         LOAD_TYPE_LOG1=1,
 172         LOAD_TYPE_LOG2=2,
 173     };
 174
 175     struct {
 176         bool running;
 177         uint32_t row;
 178         uint8_t filter_counter;
 179         AP_Float load_mul;
 180         AP_Int8  load_filter;
 181         AP_Int8  load_type;
 182     } load_test;
 183
 184     static const struct load_data load_data1[];
 185 };