Copter: add parameter table for flip mode

ArduCopter/Parameters.cpp

@@ -1186,14 +1186,9 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
 #endif
 
 #if MODE_FLIP_ENABLED
-    // @Param: FLIP_RATE
-    // @DisplayName: Flip Mode Rotational Rate
-    // @Description: Rotational Rate for Flip Mode in Deg/s.  Be sure to set a rotational rate that the aircraft can achieve.
-    // @Units: deg/s
-    // @Range: 60 1000
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("FLIP_RATE", 23, ParametersG2, flip_rate_dps, 400),
+    // @Group: FLIP_
+    // @Path: mode_flip.cpp
+    AP_SUBGROUPPTR(mode_flip_ptr, "FLIP_", 23, ParametersG2, ModeFlip),
 #endif
 
     // ID 62 is reserved for the AP_SUBGROUPEXTENSION
@@ -1262,6 +1257,11 @@ ParametersG2::ParametersG2(void) :
 #if MODE_POSHOLD_ENABLED
     ,mode_poshold_ptr(&copter.mode_poshold)
 #endif
+
+#if MODE_FLIP_ENABLED
+    ,mode_flip_ptr(&copter.mode_flip)
+#endif
+
 {
     AP_Param::setup_object_defaults(this, var_info);
     AP_Param::setup_object_defaults(this, var_info2);

ArduCopter/Parameters.h

@@ -737,8 +737,9 @@ public:
 #endif
 
 #if MODE_FLIP_ENABLED
-    AP_Int16 flip_rate_dps;
+    void *mode_flip_ptr;
 #endif
+
 };
 
 extern const AP_Param::Info        var_info[];

ArduCopter/mode.h

@@ -958,8 +958,8 @@ private:
 class ModeFlip : public Mode {
 
 public:
-    // inherit constructor
-    using Mode::Mode;
+    // need a constructor
+    ModeFlip(void);
     Number mode_number() const override { return Number::FLIP; }
 
     bool init(bool ignore_checks) override;
@@ -973,6 +973,8 @@ public:
 
     void abandon_flip();
 
+    static const struct AP_Param::GroupInfo var_info[];
+
 protected:
 
     const char *name() const override { return "Flip"; }
@@ -996,6 +998,7 @@ private:
     uint32_t start_time_ms;
     int8_t roll_dir;                    // roll direction (-1 = roll left, 1 = roll right)
     int8_t pitch_dir;                   // pitch direction (-1 = pitch forward, 1 = pitch back)
+    AP_Float flip_rate_dps;              // rotational rate during flip
 
     bool input_is_high_magnitude(RC_Channel &input) const;
 };

ArduCopter/mode_flip.cpp

@@ -28,6 +28,29 @@
 #define FLIP_PITCH_BACK      1      // used to set flip_dir
 #define FLIP_PITCH_FORWARD  -1      // used to set flip_dir
 
+#define FLIP_RATE_DEFAULT_DPS 400.0f  // default flip rate in deg/s
+
+const AP_Param::GroupInfo ModeFlip::var_info[] = {
+
+    // @Param: RATE
+    // @DisplayName: Flip Mode Rotational Rate
+    // @Description: Rotational Rate for Flip Mode in Deg/s.  Be sure to set a rotational rate that the aircraft can achieve.
+    // @Units: deg/s
+    // @Range: 60 1000
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("RATE", 1, ModeFlip, flip_rate_dps, FLIP_RATE_DEFAULT_DPS),
+
+    AP_GROUPEND
+};
+
+// constructor
+ModeFlip::ModeFlip(void) : Mode()
+{
+    // load parameter defaults
+    AP_Param::setup_object_defaults(this, var_info);
+}
+
 // flip_init - initialise flip controller
 bool ModeFlip::init(bool ignore_checks)
 {
@@ -88,7 +111,7 @@ bool ModeFlip::init(bool ignore_checks)
 void ModeFlip::run()
 {
     // get flip rotation rate parameter and constrain to range from 60 to 1000 deg/s.
-    const float flip_rate_rads = radians(constrain_float(g2.flip_rate_dps.get(), 60.0f, 1000.0f));
+    const float flip_rate_rads = radians(constrain_float(flip_rate_dps.get(), 60.0f, 1000.0f));
     // determine timeout for flip based on rotation rate.  Time is doubled to allow for poorly tuned vehicles.
     const float flip_time_out_ms = 1000.0f * (2.0f * radians(360.0f) / flip_rate_rads);