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Copter: Removed RTL from takeoff cmd mode
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@iamczar
iamczar committed Nov 6, 2017
1 parent 244be07 commit 21ec92c
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Showing 2 changed files with 13 additions and 16 deletions.
27 changes: 12 additions & 15 deletions ArduCopter/toy_mode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,56 +41,56 @@ const AP_Param::GroupInfo ToyMode::var_info[] = {
// @Param: _ACTION1
// @DisplayName: Tmode action 1
// @Description: This is the action taken for the left action button
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLandRTL
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLand
// @User: Standard
AP_GROUPINFO("_ACTION1", 4, ToyMode, actions[0], ACTION_TOGGLE_VIDEO),

// @Param: _ACTION2
// @DisplayName: Tmode action 2
// @Description: This is the action taken for the right action button
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLandRTL
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLand
// @User: Standard
AP_GROUPINFO("_ACTION2", 5, ToyMode, actions[1], ACTION_TAKE_PHOTO),

// @Param: _ACTION3
// @DisplayName: Tmode action 3
// @Description: This is the action taken for the power button
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLandRTL
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLand
// @User: Standard
AP_GROUPINFO("_ACTION3", 6, ToyMode, actions[2], ACTION_DISARM),

// @Param: _ACTION4
// @DisplayName: Tmode action 4
// @Description: This is the action taken for the left action button while the mode button is pressed
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLandRTL
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLand
// @User: Standard
AP_GROUPINFO("_ACTION4", 7, ToyMode, actions[3], ACTION_NONE),

// @Param: _ACTION5
// @DisplayName: Tmode action 5
// @Description: This is the action taken for the right action button while the mode button is pressed
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLandRTL
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLand
// @User: Standard
AP_GROUPINFO("_ACTION5", 8, ToyMode, actions[4], ACTION_NONE),

// @Param: _ACTION6
// @DisplayName: Tmode action 6
// @Description: This is the action taken for the power button while the mode button is pressed
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLandRTL
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLand
// @User: Standard
AP_GROUPINFO("_ACTION6", 9, ToyMode, actions[5], ACTION_NONE),

// @Param: _LEFT
// @DisplayName: Tmode left action
// @Description: This is the action taken for the left button (mode button) being pressed
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLandRTL
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLand
// @User: Standard
AP_GROUPINFO("_LEFT", 10, ToyMode, actions[6], ACTION_TOGGLE_MODE),

// @Param: _LEFT_LONG
// @DisplayName: Tmode left long action
// @Description: This is the action taken for a long press of the left button (home button)
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLandRTL
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,24:ModeFlowHold,25:TakeoffLand
// @User: Standard
AP_GROUPINFO("_LEFT_LONG", 11, ToyMode, actions[7], ACTION_NONE),

Expand All @@ -104,7 +104,7 @@ const AP_Param::GroupInfo ToyMode::var_info[] = {
// @Param: _RIGHT
// @DisplayName: Tmode right action
// @Description: This is the action taken for the right button (RTL) being pressed
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,25:TakeoffLandRTL
// @Values: 0:None,1:TakePhoto,2:ToggleVideo,3:ModeAcro,4:ModeAltHold,5:ModeAuto,6:ModeLoiter,7:ModeRTL,8:ModeCircle,9:ModeLand,10:ModeDrift,11:ModeSport,12:ModeAutoTune,13:ModePosHold,14:ModeBrake,15:ModeThrow,16:Flip,17:ModeStabilize,18:Disarm,19:ToggleMode,20:Arm-Land-RTL,21:ToggleSimpleMode,22:ToggleSuperSimpleMode,23:MotorLoadTest,25:TakeoffLand
// @User: Standard
AP_GROUPINFO("_RIGHT", 13, ToyMode, actions[8], ACTION_ARM_LAND_RTL),

Expand Down Expand Up @@ -378,7 +378,7 @@ void ToyMode::update()
case ACTION_TOGGLE_SIMPLE:
case ACTION_TOGGLE_SSIMPLE:
case ACTION_ARM_LAND_RTL:
case ACTION_TAKEOFF_LAND_RTL:
case ACTION_TAKEOFF_LAND:
case ACTION_LOAD_TEST:
case ACTION_MODE_FLOW:
if (last_action == action ||
Expand Down Expand Up @@ -613,7 +613,7 @@ void ToyMode::update()
}
break;

case ACTION_TAKEOFF_LAND_RTL:
case ACTION_TAKEOFF_LAND:
if (!copter.motors->armed()) {
action_arm();
if (!copter.motors->armed()) {
Expand All @@ -638,9 +638,6 @@ void ToyMode::update()
} else {
new_mode = get_non_gps_mode();
}
} else if (copter.mode_requires_GPS(old_mode)) {
// if we're in a GPS mode, then RTL
new_mode = RTL;
} else {
// if we're in a non-GPS mode, then LAND
new_mode = LAND;
Expand Down Expand Up @@ -869,7 +866,7 @@ void ToyMode::throttle_adjust(float &throttle_control)
implement auto-takeoff action
*/
const float takeoff_throttle_cmd = 700.0f;
const uint16_t_t takeoff_time_ms = 1500;
const uint16_t takeoff_time_ms = 1500;
if (now - takeoff_started_ms < takeoff_time_ms) {
throttle_control = takeoff_throttle_cmd;
return;
Expand Down
2 changes: 1 addition & 1 deletion ArduCopter/toy_mode.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -72,7 +72,7 @@ class ToyMode
ACTION_TOGGLE_SSIMPLE = 22,
ACTION_LOAD_TEST = 23,
ACTION_MODE_FLOW = 24,
ACTION_TAKEOFF_LAND_RTL = 25,
ACTION_TAKEOFF_LAND = 25,
};

enum toy_action last_action;
Expand Down

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