Copter: fix compile errors

bnsgeyer · May 4, 2024 · a0f8d26 · a0f8d26
1 parent f5ce9c0
commit a0f8d26
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Showing 5 changed files with 17 additions and 19 deletions.
diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
@@ -15,7 +15,7 @@ void Copter::run_rate_controller()
     pos_control->set_dt(last_loop_time_s);
 
     // Bypass attitude controller if quadsquad is current flight mode. quadsquad is self contained
-    if (control_mode != Mode::Number::QUADSQUAD && control_mode != Mode::Number::SYSTEMID) {
+    if (flightmode->mode_number() != Mode::Number::QUADSQUAD && flightmode->mode_number() != Mode::Number::SYSTEMID) {
         // run low level rate controllers that only require IMU data
         attitude_control->rate_controller_run();
     }

diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
@@ -461,8 +461,8 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
         case AUX_FUNC::USER_FUNC1:
             copter.userhook_auxSwitch1(ch_flag);
             switch (ch_flag) {
-                case HIGH:
-                case MIDDLE:
+                case AuxSwitchPos::HIGH:
+                case AuxSwitchPos::MIDDLE:
                     copter.mode_quadsquad.set_traj_sw(2);
                     gcs().send_text(MAV_SEVERITY_INFO, "quadsquad trajectory started");
                     break;

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -1599,7 +1599,7 @@ class ModeSystemId : public Mode {
     bool has_manual_throttle() const override { return true; }
     bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return false; }
-    bool logs_attitude() const override { return false }
+    bool logs_attitude() const override { return false; }
 
     void set_magnitude(float input) { waveform_magnitude.set(input); }
     void set_traj_sw(uint8_t sw_status) { traj_sw = sw_status; }
@@ -2005,16 +2005,16 @@ class ModeAutorotate : public Mode {
 class ModeQuadsquad : public Mode {
 
 public:
-    // inherit constructor
-//    using Mode::Mode;
+
     ModeQuadsquad(void);
+    Number mode_number() const override { return Number::QUADSQUAD; }
 
     virtual void run() override;
     bool init(bool ignore_checks) override;
 
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return true; }
-    bool allows_arming(bool from_gcs) const override { return true; };
+    bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
     void set_traj_sw(uint8_t sw_status) { traj_sw = sw_status; }
 

diff --git a/ArduCopter/mode_quadsquad.cpp b/ArduCopter/mode_quadsquad.cpp
@@ -25,7 +25,7 @@ ModeQuadsquad::ModeQuadsquad(void) : Mode()
 bool ModeQuadsquad::init(bool ignore_checks)
 {
     // set target altitude to zero for reporting
-    pos_control->set_alt_target(0);
+    pos_control->set_alt_target_with_slew(0.0f);
     QS_InnerRateLoop_Obj.initialize();
     engage=0;
     VeSqrSum=0;
@@ -59,8 +59,8 @@ void ModeQuadsquad::run()
      const Vector3f &accel = copter.ins.get_accel();
      const Vector3f &gyro = copter.ins.get_gyro();
 
-     const Vector3f &curr_pos = inertial_nav.get_position();
-     const Vector3f &curr_vel = inertial_nav.get_velocity();
+    const Vector3f &curr_pos = inertial_nav.get_position_neu_cm();
+    const Vector3f &curr_vel = inertial_nav.get_velocity_neu_cms();
 
     // apply simple mode transform to pilot inputs
     update_simple_mode();
@@ -78,13 +78,13 @@ void ModeQuadsquad::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms();
         break;
 
     case AP_Motors::SpoolState::GROUND_IDLE:
         // Landed
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_yaw_target_and_rate();
         attitude_control->reset_rate_controller_I_terms_smoothly();
         break;
 
@@ -150,8 +150,8 @@ void ModeQuadsquad::run()
  //    Trajectory on or off
 
      QS_InnerRateLoop_Obj.QS_InnerRateLoop_U.TrajectorySwitch = traj_sw;
-
-     alpha = 1.0; // hard coding alpha
+     alpha.set(1.0f);
+//     alpha = 1.0f; // hard coding alpha
      //Scale RV
          if(alpha <= 0 || alpha > 3 ){
              QS_InnerRateLoop_Obj.QS_InnerRateLoop_U.Rv = 2;

diff --git a/ArduCopter/mode_systemid.cpp b/ArduCopter/mode_systemid.cpp
@@ -101,9 +101,7 @@ bool ModeSystemId::init(bool ignore_checks)
 #if HAL_LOGGING_ENABLED
     copter.Log_Write_SysID_Setup(axis, waveform_magnitude, frequency_start, frequency_stop, time_fade_in, time_const_freq, time_record, time_fade_out);
 #endif
-
-    // set target altitude to zero for reporting
-    pos_control->set_alt_target(0);
+    pos_control->set_alt_target_with_slew(0.0f);
     QS_InnerRateLoop_Obj.initialize();
     engage=0;
     VeSqrSum=0;
@@ -136,8 +134,8 @@ void ModeSystemId::run()
     const Vector3f &accel = copter.ins.get_accel();
     const Vector3f &gyro = copter.ins.get_gyro();
 
-    const Vector3f &curr_pos = inertial_nav.get_position();
-    const Vector3f &curr_vel = inertial_nav.get_velocity();
+    const Vector3f &curr_pos = inertial_nav.get_position_neu_cm();
+    const Vector3f &curr_vel = inertial_nav.get_velocity_neu_cms();
 
     // system ID inputs
     float input_pitch = 0.0f;