Plane: Onion part 1b #10162

magicrub · 2019-01-03T04:33:45Z

This replaces #10107 by rolling back a couple of the changes that held mode properties. It should be more "obviously correct" with structure-only changes. Next part will be where we are doing more fancy things with the mode classes. Let's get the structure in place and merged into master so we can then more easily discuss how to do all the optimization stuff with using the mode classes.

I marked this WIP because I plan to break the commits up a little better and add some comments. No source code changes are planned. This PR is here to get more eyes on this and get some testing happening. It would be a HUGE help if @Naterater could do some flight tests with this in all the flight modes. Ping us if you need a binary!

ArduPlane/avoidance_adsb.h

peterbarker · 2019-01-03T06:51:21Z

ArduPlane/mode_acro.cpp

+#include "mode.h"
+#include "Plane.h"
+
+bool ModeAcro::_enter()


bool is interesting.

Traditionally on Plane we never fail to enter a mode....

... not when we're done with the onion!

we do fail to enter Q modes actually, though it works by switching back to previous_mode

magicrub · 2019-01-03T23:18:53Z

arduplane.zip
I've attached the apj file but renamed it to zip to post here. Git hash is a81772cb34

tridge · 2019-01-08T00:26:19Z

need to fix commit msg on the major commit

amilcarlucas · 2019-01-08T00:34:27Z

For reference, the Flight modes are defined in Mavlink enums:
https://mavlink.io/en/messages/ardupilotmega.html#COPTER_MODE

magicrub · 2019-01-14T20:39:43Z

@amilcarlucas For Plane modes, we have this. Just like the other vehicles.

magicrub · 2019-01-14T20:40:12Z

rebased on master and updated commit msg

amilcarlucas · 2019-01-15T08:25:12Z

I whould like to see that re-written as
#include mavlink.h enum Number { MANUAL = Ardupilotmega::PLANE_MODE_MANUAL, CIRCLE = Ardupilotmega::PLANE_MODE_CIRCLE, STABILIZE = Ardupilotmega::PLANE_MODE_STABILIZE, TRAINING = Ardupilotmega::PLANE_MODE_TRAINING, ...

That way it is clear that they need to be in sync with mavlink AND still allows one to add a new mode by appending it to the bottom of the list without the = sign.

magicrub · 2019-01-15T16:17:02Z

@amilcarlucas fair request. However, all vehicles need that change. Let's leave that for another PR.

amilcarlucas · 2019-01-15T16:22:05Z

@magicrub OK, I'll do a PR once this one goes in.

OXINARF · 2019-01-15T17:52:27Z

@magicrub @amilcarlucas We've been craving for an AP_Telemetry library forever, tying things more into MAVLink only makes that job harder, not easier... The flight mode numbers have its origin in ArduPilot, not in MAVLink.

magicrub · 2019-01-15T18:06:44Z

rebased again. I looked at adding comments on mode.h but I just don't see where adding any would help. All comments also match rover/copter. Please don't hold this PR to a higher standard than rover/copter mode system.

peterbarker · 2019-01-15T22:17:36Z

On Tue, 15 Jan 2019, Amilcar Lucas wrote: @magicrub OK, I'll do a PR once this one goes in.

You could make an equivalent PR against Copter or Rover so we can consider :-)

rmackay9 · 2019-01-16T01:00:23Z

@magicrub, I should just stay quiet but I'm excited about this PR.. I guess you said on the dev call that you wanted to do some more testing or are you happy for this to go in now? I see the WIP label is gone..

amilcarlucas · 2019-01-16T09:45:05Z

@OXINARF we can cross that bridge once we get there :)
And we can at that point, replace the assignments with static_asserts.

amilcarlucas · 2019-01-21T08:53:21Z

Needs a rebase

magicrub · 2019-01-22T00:39:01Z

rebased

magicrub · 2019-01-25T15:28:40Z

During the lat devcall @tridge offered to help test, although he'll be unavailable for the next week so it will have to wait until he gets back. Meanwhile, I've been rebasing it every few days.

Naterater · 2019-03-18T14:13:25Z

Hey @magicrub, what's the status of this?

magicrub · 2019-03-21T09:41:39Z

I just rebased this. @peterbarker and I will be flying it here in Canberra dev conference. Plan is to pound on it and get it merged this weekend

magicrub · 2019-03-22T22:10:17Z

This was just flown on two aircraft at CMAC, owned by @peterbarker and @tridge . So, things are looking promising for a merge very soon!

magicrub · 2019-03-28T00:29:00Z

rebased. I've also added the DevTopic tag. Let's leave that tag on until this merges

magicrub · 2019-03-28T01:05:28Z

This needs some eyeballs on it. Can a few other devs PLEASE take a look at this?

WickedShell · 2019-04-01T00:25:39Z

ArduPlane/system.cpp

-        }
-        break;
+        // we failed entering new mode, roll back to old
+        previous_mode = &old_previous_mode;


Don't you need to re-enter the old mode, as enter a mode has significant side effects? (IE navigation target etc).

yeah, quadplane is the black duck here. It's the only thing that can fail a set_mode. I don't have a quadplane to test thoroughly. Can you test it for me?

@magicrub, I'd vote for testing it in SITL..

magicrub · 2019-04-02T05:29:51Z

I think @tridge 's baby hit the merge button on accident!

magicrub added Plane WIP labels Jan 3, 2019

magicrub requested review from WickedShell, tridge, rmackay9, OXINARF, peterbarker and Naterater January 3, 2019 04:33

magicrub mentioned this pull request Jan 3, 2019

Plane: Onion part 1 #10107

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peterbarker reviewed Jan 3, 2019

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magicrub force-pushed the plane_onion3_flat branch 2 times, most recently from 9a21ef5 to 4bd5eeb Compare January 14, 2019 20:33

magicrub removed the WIP label Jan 14, 2019

magicrub force-pushed the plane_onion3_flat branch from 4bd5eeb to c1069a3 Compare January 15, 2019 17:58

magicrub force-pushed the plane_onion3_flat branch from c1069a3 to 7341af3 Compare January 16, 2019 18:06

magicrub force-pushed the plane_onion3_flat branch from 7341af3 to 18350b6 Compare January 22, 2019 00:38

magicrub force-pushed the plane_onion3_flat branch 3 times, most recently from 437d982 to 2fa5cdd Compare January 25, 2019 14:21

magicrub force-pushed the plane_onion3_flat branch 2 times, most recently from 6195297 to be031c5 Compare January 31, 2019 15:07

magicrub force-pushed the plane_onion3_flat branch from be031c5 to f228452 Compare March 21, 2019 09:40

magicrub force-pushed the plane_onion3_flat branch 2 times, most recently from 9a4e816 to e78eda4 Compare March 22, 2019 04:01

magicrub added the DevCallTopic label Mar 28, 2019

magicrub force-pushed the plane_onion3_flat branch from e78eda4 to c771eeb Compare March 28, 2019 00:27

WickedShell reviewed Apr 1, 2019

View reviewed changes

magicrub added 4 commits April 1, 2019 08:06

Plane: massive refactor and creation of Mode class

62ecf2f

Plane: fixed some rebase duplicate code.

dcac382

Plane: rearranged some set_mode checks

e47dbf8

Plane: gracefully-ish fail set_mode(qmode)

732bc0d

magicrub force-pushed the plane_onion3_flat branch from c771eeb to 732bc0d Compare April 1, 2019 17:54

tridge merged commit fbe483c into ArduPilot:master Apr 2, 2019

magicrub deleted the plane_onion3_flat branch April 2, 2019 05:30

magicrub mentioned this pull request Nov 5, 2020

Plane: TKOFF_LVL_PITCH and TKOFF_THR_SLEW not respected in auto takeoff #15734

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magicrub removed the DevCallTopic label Nov 5, 2020

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Plane: Onion part 1b #10162

Plane: Onion part 1b #10162

magicrub commented Jan 3, 2019

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Plane: Onion part 1b #10162

Plane: Onion part 1b #10162

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