Copter: integrate skeleton Hybrid mode

ArduCopter/GCS_Mavlink.pde

@@ -68,6 +68,7 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
     case LOITER:
     case GUIDED:
     case CIRCLE:
+    case HYBRID:
         base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
         // note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
         // APM does in any mode, as that is defined as "system finds its own goal
@@ -175,6 +176,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     case CIRCLE:
     case LAND:
     case OF_LOITER:
+    case HYBRID:
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
         break;

ArduCopter/Parameters.pde

@@ -285,42 +285,42 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: FLTMODE1
     // @DisplayName: Flight Mode 1
     // @Description: Flight mode when Channel 5 pwm is <= 1230
-    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport
+    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport,17:Hybrid
     // @User: Standard
     GSCALAR(flight_mode1, "FLTMODE1",               FLIGHT_MODE_1),
 
     // @Param: FLTMODE2
     // @DisplayName: Flight Mode 2
     // @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
-    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport
+    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport,17:Hybrid
     // @User: Standard
     GSCALAR(flight_mode2, "FLTMODE2",               FLIGHT_MODE_2),
 
     // @Param: FLTMODE3
     // @DisplayName: Flight Mode 3
     // @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
-    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport
+    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport,17:Hybrid
     // @User: Standard
     GSCALAR(flight_mode3, "FLTMODE3",               FLIGHT_MODE_3),
 
     // @Param: FLTMODE4
     // @DisplayName: Flight Mode 4
     // @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
-    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport
+    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport,17:Hybrid
     // @User: Standard
     GSCALAR(flight_mode4, "FLTMODE4",               FLIGHT_MODE_4),
 
     // @Param: FLTMODE5
     // @DisplayName: Flight Mode 5
     // @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
-    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport
+    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport,17:Hybrid
     // @User: Standard
     GSCALAR(flight_mode5, "FLTMODE5",               FLIGHT_MODE_5),
 
     // @Param: FLTMODE6
     // @DisplayName: Flight Mode 6
     // @Description: Flight mode when Channel 5 pwm is >=1750
-    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport
+    // @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,10:OF_Loiter,11:Drift,13:Sport,17:Hybrid
     // @User: Standard
     GSCALAR(flight_mode6, "FLTMODE6",               FLIGHT_MODE_6),
 

ArduCopter/defines.h

@@ -100,7 +100,8 @@
 #define SPORT 13                        // earth frame rate control
 #define FLIP        14                  // flip the vehicle on the roll axis
 #define AUTOTUNE    15                  // autotune the vehicle's roll and pitch gains
-#define NUM_MODES   16
+#define HYBRID      16                  // hybrid - position hold with manual override
+#define NUM_MODES   17
 
 
 // CH_6 Tuning

ArduCopter/events.pde

@@ -50,6 +50,7 @@ static void failsafe_radio_on_event()
             break;
         case LOITER:
         case ALT_HOLD:
+        case HYBRID:
             // if landed with throttle at zero disarm, otherwise do the regular thing
             if (g.rc_3.control_in == 0 && ap.land_complete) {
                 init_disarm_motors();
@@ -139,6 +140,7 @@ static void failsafe_battery_event(void)
                 break;
             case LOITER:
             case ALT_HOLD:
+            case HYBRID:
                 // if landed with throttle at zero disarm, otherwise fall through to default handling
                 if (g.rc_3.control_in == 0 && ap.land_complete) {
                     init_disarm_motors();

ArduCopter/flight_mode.pde

@@ -87,6 +87,10 @@ static bool set_mode(uint8_t mode)
             break;
 #endif
 
+        case HYBRID:
+            success = hybrid_init(ignore_checks);
+            break;
+
         default:
             success = false;
             break;
@@ -177,6 +181,10 @@ static void update_flight_mode()
             autotune_run();
             break;
 #endif
+
+        case HYBRID:
+            hybrid_run();
+            break;
     }
 }
 
@@ -205,6 +213,7 @@ static bool mode_requires_GPS(uint8_t mode) {
         case RTL:
         case CIRCLE:
         case DRIFT:
+        case HYBRID:
             return true;
         default:
             return false;
@@ -277,6 +286,9 @@ print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
     case AUTOTUNE:
         port->print_P(PSTR("AUTOTUNE"));
         break;
+    case HYBRID:
+        port->print_P(PSTR("HYBRID"));
+        break;
     default:
         port->printf_P(PSTR("Mode(%u)"), (unsigned)mode);
         break;