Copter: integrate control_flip

ArduCopter/ArduCopter.pde

@@ -1062,18 +1062,6 @@ static void fast_loop()
     // --------------------
     read_AHRS();
 
-	// Acrobatic control
-    if (ap.do_flip) {
-        if(abs(g.rc_1.control_in) < 4000) {
-            // calling roll_flip will override the desired roll rate and throttle output
-            roll_flip();
-        }else{
-            // force an exit from the loop if we are not hands off sticks.
-            ap.do_flip = false;
-            Log_Write_Event(DATA_EXIT_FLIP);
-        }
-    }
-
     // run low level rate controllers that only require IMU data
     attitude_control.rate_controller_run();
 
@@ -1502,6 +1490,10 @@ static void update_flight_mode()
         case SPORT:
             sport_run();
             break;
+
+        case FLIP:
+            flip_run();
+            break;
     }
 }
 

ArduCopter/control_modes.pde

@@ -146,8 +146,10 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
     switch(tmp_function) {
         case AUX_SWITCH_FLIP:
             // flip if switch is on, positive throttle and we're actually flying
-            if((ch_flag == AUX_SWITCH_HIGH) && (g.rc_3.control_in >= 0) && !ap.land_complete) {
-                init_flip();
+            if(ch_flag == AUX_SWITCH_HIGH) {
+                set_mode(FLIP);
+            }else{
+                flip_stop();
             }
             break;
 

ArduCopter/defines.h

@@ -127,7 +127,8 @@
 #define OF_LOITER 10                    // Hold a single location using optical flow sensor
 #define DRIFT 11                        // DRIFT mode (Note: 12 is no longer used)
 #define SPORT 13                        // earth frame rate control
-#define NUM_MODES 14
+#define FLIP        14                  // flip the vehicle on the roll axis
+#define NUM_MODES 15
 
 
 // CH_6 Tuning
@@ -231,6 +232,14 @@ enum RTLState {
     Land
 };
 
+// Flip states
+enum FlipState {
+    Flip_Start,
+    Flip_Roll,
+    Flip_Recover,
+    Flip_Abandon
+};
+
 // LAND state
 #define LAND_STATE_FLY_TO_LOCATION  0
 #define LAND_STATE_DESCENDING       1
@@ -295,9 +304,8 @@ enum RTLState {
 #define DATA_LAND_COMPLETE              18
 #define DATA_NOT_LANDED                 28
 #define DATA_LOST_GPS                   19
-#define DATA_BEGIN_FLIP                 21
-#define DATA_END_FLIP                   22
-#define DATA_EXIT_FLIP                  23
+#define DATA_FLIP_START                 21
+#define DATA_FLIP_END                   22
 #define DATA_SET_HOME                   25
 #define DATA_SET_SIMPLE_ON              26
 #define DATA_SET_SIMPLE_OFF             27
@@ -374,6 +382,7 @@ enum RTLState {
 #define ERROR_SUBSYSTEM_FLIGHT_MODE         10
 #define ERROR_SUBSYSTEM_GPS                 11
 #define ERROR_SUBSYSTEM_CRASH_CHECK         12
+#define ERROR_SUBSYSTEM_FLIP                13
 // general error codes
 #define ERROR_CODE_ERROR_RESOLVED           0
 #define ERROR_CODE_FAILED_TO_INITIALISE     1
@@ -390,6 +399,8 @@ enum RTLState {
 #define ERROR_CODE_MAIN_INS_DELAY           1
 // subsystem specific error codes -- crash checker
 #define ERROR_CODE_CRASH_CHECK_CRASH        1
+// subsystem specific error codes -- flip
+#define ERROR_CODE_FLIP_ABANDONED           2
 
 // Arming Check Enable/Disable bits
 #define ARMING_CHECK_NONE                   0x00

ArduCopter/system.pde

@@ -446,6 +446,10 @@ static bool set_mode(uint8_t mode)
             control_yaw = ahrs.yaw_sensor;
             break;
 
+        case FLIP:
+            success = flip_init(ignore_checks);
+            break;
+
         default:
             success = false;
             break;
@@ -581,6 +585,9 @@ print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
     case SPORT:
         port->print_P(PSTR("SPORT"));
         break;
+    case FLIP:
+        port->print_P(PSTR("FLIP"));
+        break;
     default:
         port->printf_P(PSTR("Mode(%u)"), (unsigned)mode);
         break;