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Copter: use an enumeration for WP_YAW_BEHAVIOR

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Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Peter Barker
2026-04-11 14:31:45 +10:00
committed by Peter Barker
co-authored by Claude Sonnet 4.6
parent 7369c7ef91
commit 1133cdab3f
7 changed files with 20 additions and 18 deletions
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ArduCopter/Copter.h
+1
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@@ -422,6 +422,7 @@ private:
using FS_GCS_Action = Parameters::FS_GCS_Action;
using FS_THR_Action = Parameters::FS_THR_Action;
using FS_EKF_Action = Parameters::FS_EKF_Action;
using WPYawBehavior = Parameters::WPYawBehavior;
// dead reckoning state
struct {
ArduCopter/Parameters.cpp
+1 -1
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@@ -119,7 +119,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Description: Determines how the autopilot controls the yaw during missions and RTL
// @Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL, 3:Face along GPS course
// @User: Standard
GSCALAR(wp_yaw_behavior, "WP_YAW_BEHAVIOR", WP_YAW_BEHAVIOR_DEFAULT),
GSCALAR(wp_yaw_behavior, "WP_YAW_BEHAVIOR", static_cast<float>(WP_YAW_BEHAVIOR_DEFAULT)),
// @Param: FS_THR_ENABLE
// @DisplayName: Throttle Failsafe Enable
ArduCopter/Parameters.h
+9 -1
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@@ -419,7 +419,15 @@ public:
AP_Int8 super_simple;
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
// Yaw behaviours during missions (WP_YAW_BEHAVIOR parameter)
enum class WPYawBehavior {
NONE = 0,
LOOK_AT_NEXT_WP = 1,
LOOK_AT_NEXT_WP_EXCEPT_RTL = 2,
LOOK_AHEAD = 3,
};
AP_Enum<WPYawBehavior> wp_yaw_behavior; // controls how the autopilot controls yaw during missions
#if MODE_POSHOLD_ENABLED
AP_Int16 poshold_brake_rate_degs; // PosHold flight mode's rotation rate during braking in deg/sec
ArduCopter/autoyaw.cpp
+5 -5
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@@ -35,22 +35,22 @@ void Mode::AutoYaw::set_mode_to_default(bool rtl)
// set rtl parameter to true if this is during an RTL
Mode::AutoYaw::Mode Mode::AutoYaw::default_mode(bool rtl) const
{
switch (copter.g.wp_yaw_behavior) {
switch ((Copter::WPYawBehavior)copter.g.wp_yaw_behavior) {
case WP_YAW_BEHAVIOR_NONE:
case Copter::WPYawBehavior::NONE:
return Mode::HOLD;
case WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL:
case Copter::WPYawBehavior::LOOK_AT_NEXT_WP_EXCEPT_RTL:
if (rtl) {
return Mode::HOLD;
} else {
return Mode::LOOK_AT_NEXT_WP;
}
case WP_YAW_BEHAVIOR_LOOK_AHEAD:
case Copter::WPYawBehavior::LOOK_AHEAD:
return Mode::LOOK_AHEAD;
case WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP:
case Copter::WPYawBehavior::LOOK_AT_NEXT_WP:
default:
return Mode::LOOK_AT_NEXT_WP;
}
ArduCopter/config.h
+2 -2
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@@ -56,7 +56,7 @@
// TradHeli defaults
#if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AHEAD
# define WP_YAW_BEHAVIOR_DEFAULT WPYawBehavior::LOOK_AHEAD
#endif
//////////////////////////////////////////////////////////////////////////////
@@ -452,7 +452,7 @@
// AUTO Mode
#ifndef WP_YAW_BEHAVIOR_DEFAULT
# define WP_YAW_BEHAVIOR_DEFAULT WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
# define WP_YAW_BEHAVIOR_DEFAULT WPYawBehavior::LOOK_AT_NEXT_WP_EXCEPT_RTL
#endif
#ifndef YAW_LOOK_AHEAD_MIN_SPEED_MS
ArduCopter/defines.h
-7
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@@ -54,13 +54,6 @@ enum tuning_func {
TUNING_WP_SPEED_MS = 61, // maximum speed to next waypoint in m/s
};
// Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
#define WP_YAW_BEHAVIOR_NONE 0 // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP 1 // auto pilot will face next waypoint or home during rtl
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL 2 // auto pilot will face next waypoint except when doing RTL at which time it will stay in it's last
#define WP_YAW_BEHAVIOR_LOOK_AHEAD 3 // auto pilot will look ahead during missions and rtl (primarily meant for traditional helicopters)
// Airmode
enum class AirMode {
AIRMODE_NONE,
ArduCopter/mode_auto.cpp
+2 -2
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@@ -478,7 +478,7 @@ bool ModeAuto::wp_start(const Location& dest_loc)
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (auto_yaw.mode() != AutoYaw::Mode::ROI && !(auto_yaw.mode() == AutoYaw::Mode::FIXED && copter.g.wp_yaw_behavior == WP_YAW_BEHAVIOR_NONE)) {
if (auto_yaw.mode() != AutoYaw::Mode::ROI && !(auto_yaw.mode() == AutoYaw::Mode::FIXED && copter.g.wp_yaw_behavior == Copter::WPYawBehavior::NONE)) {
auto_yaw.set_mode_to_default(false);
}
@@ -1851,7 +1851,7 @@ void ModeAuto::do_spline_wp(const AP_Mission::Mission_Command& cmd)
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (auto_yaw.mode() != AutoYaw::Mode::ROI && !(auto_yaw.mode() == AutoYaw::Mode::FIXED && copter.g.wp_yaw_behavior == WP_YAW_BEHAVIOR_NONE)) {
if (auto_yaw.mode() != AutoYaw::Mode::ROI && !(auto_yaw.mode() == AutoYaw::Mode::FIXED && copter.g.wp_yaw_behavior == Copter::WPYawBehavior::NONE)) {
auto_yaw.set_mode_to_default(false);
}