Copter: factor out takeoff_trigger from althold, sport and loiter

ArduCopter/mode.cpp

@@ -242,3 +242,23 @@ void Copter::Mode::update_navigation()
     // run autopilot to make high level decisions about control modes
     run_autopilot();
 }
+
+
+bool Copter::Mode::takeoff_triggered(const float target_climb_rate) const
+{
+    if (!ap.land_complete) {
+        // can't take off if we're already flying
+        return false;
+    }
+    if (target_climb_rate <= 0.0f) {
+        // can't takeoff unless we want to go up...
+        return false;
+    }
+#if FRAME_CONFIG == HELI_FRAME
+    if (!motors->rotor_runup_complete()) {
+        // hold heli on the ground until rotor speed runup has finished
+        return false;
+    }
+#endif
+    return true;
+}

ArduCopter/mode.h

@@ -72,6 +72,9 @@ protected:
     ap_t ≈
     takeoff_state_t &takeoff_state;
 
+    // takeoff support
+    bool takeoff_triggered(float target_climb_rate) const;
+
     // gnd speed limit required to observe optical flow sensor limits
     float &ekfGndSpdLimit;
 

ArduCopter/mode_althold.cpp

@@ -49,17 +49,10 @@ void Copter::ModeAltHold::run()
     float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
     target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
 
-#if FRAME_CONFIG == HELI_FRAME
-    // helicopters are held on the ground until rotor speed runup has finished
-    bool takeoff_triggered = (ap.land_complete && (target_climb_rate > 0.0f) && motors->rotor_runup_complete());
-#else
-    bool takeoff_triggered = ap.land_complete && (target_climb_rate > 0.0f);
-#endif
-
     // Alt Hold State Machine Determination
     if (!motors->armed() || !motors->get_interlock()) {
         althold_state = AltHold_MotorStopped;
-    } else if (takeoff_state.running || takeoff_triggered) {
+    } else if (takeoff_state.running || takeoff_triggered(target_climb_rate)) {
         althold_state = AltHold_Takeoff;
     } else if (!ap.auto_armed || ap.land_complete) {
         althold_state = AltHold_Landed;

ArduCopter/mode_loiter.cpp

@@ -101,17 +101,10 @@ void Copter::ModeLoiter::run()
         wp_nav->loiter_soften_for_landing();
     }
 
-#if FRAME_CONFIG == HELI_FRAME
-    // helicopters are held on the ground until rotor speed runup has finished
-    bool takeoff_triggered = (ap.land_complete && (target_climb_rate > 0.0f) && motors->rotor_runup_complete());
-#else
-    bool takeoff_triggered = ap.land_complete && (target_climb_rate > 0.0f);
-#endif
-
     // Loiter State Machine Determination
     if (!motors->armed() || !motors->get_interlock()) {
         loiter_state = Loiter_MotorStopped;
-    } else if (takeoff_state.running || takeoff_triggered) {
+    } else if (takeoff_state.running || takeoff_triggered(target_climb_rate)) {
         loiter_state = Loiter_Takeoff;
     } else if (!ap.auto_armed || ap.land_complete) {
         loiter_state = Loiter_Landed;

ArduCopter/mode_sport.cpp

@@ -71,17 +71,10 @@ void Copter::ModeSport::run()
     float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
     target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
 
-#if FRAME_CONFIG == HELI_FRAME
-    // helicopters are held on the ground until rotor speed runup has finished
-    bool takeoff_triggered = (ap.land_complete && (target_climb_rate > 0.0f) && motors->rotor_runup_complete());
-#else
-    bool takeoff_triggered = ap.land_complete && (target_climb_rate > 0.0f);
-#endif
-
     // State Machine Determination
     if (!motors->armed() || !motors->get_interlock()) {
         sport_state = Sport_MotorStopped;
-    } else if (takeoff_state.running || takeoff_triggered) {
+    } else if (takeoff_state.running || takeoff_triggered(target_climb_rate)) {
         sport_state = Sport_Takeoff;
     } else if (!ap.auto_armed || ap.land_complete) {
         sport_state = Sport_Landed;