Copter: Payload Place split

ArduCopter/Copter.h

@@ -236,6 +236,8 @@ class Copter : public AP_Vehicle {
     friend class ModeTurtle;
     friend class AP_ExternalControl_Copter;
 
+    friend class PayloadPlace;
+
     Copter(void);
 
 private:

ArduCopter/defines.h

@@ -76,18 +76,6 @@ enum class AirMode {
     AIRMODE_ENABLED,
 };
 
-enum PayloadPlaceStateType {
-    PayloadPlaceStateType_FlyToLocation,
-    PayloadPlaceStateType_Descent_Start,
-    PayloadPlaceStateType_Descent,
-    PayloadPlaceStateType_Release,
-    PayloadPlaceStateType_Releasing,
-    PayloadPlaceStateType_Delay,
-    PayloadPlaceStateType_Ascent_Start,
-    PayloadPlaceStateType_Ascent,
-    PayloadPlaceStateType_Done,
-};
-
 // bit options for DEV_OPTIONS parameter
 enum DevOptions {
     DevOptionADSBMAVLink = 1,

ArduCopter/mode.cpp

@@ -25,6 +25,8 @@ Mode::Mode(void) :
     G_Dt(copter.G_Dt)
 { };
 
+PayloadPlace Mode::payload_place;
+
 // return the static controller object corresponding to supplied mode
 Mode *Copter::mode_from_mode_num(const Mode::Number mode)
 {

ArduCopter/mode.h

@@ -8,7 +8,38 @@ class ParametersG2;
 
 class GCS_Copter;
 
+class PayloadPlace {
+public:
+    void init(float descent_max);
+    void run();
+    bool done(){return state == State::Done;}
+
+    enum class State : uint8_t {
+        Descent_Start,
+        Descent,
+        Release,
+        Releasing,
+        Delay,
+        Ascent_Start,
+        Ascent,
+        Done,
+    };
+
+    // these are set by the Mission code:
+    State state = State::Descent_Start; // records state of payload place
+    float descent_max_cm;
+    bool horizontal_control = true;
+
+private:
+    uint32_t descent_established_time_ms; // milliseconds
+    uint32_t place_start_time_ms; // milliseconds
+    float descent_thrust_level;
+    float descent_start_altitude_cm;
+    float descent_speed_cms;
+};
+
 class Mode {
+    friend class PayloadPlace;
 
 public:
 
@@ -144,6 +175,9 @@ class Mode {
         land_run_vertical_control(pause_descent);
     }
 
+    // payload place flight behaviour:
+    static PayloadPlace payload_place;
+
     // run normal or precision landing (if enabled)
     // pause_descent is true if vehicle should not descend
     void land_run_normal_or_precland(bool pause_descent = false);
@@ -423,10 +457,11 @@ class ModeAltHold : public Mode {
 
 };
 
-
 class ModeAuto : public Mode {
 
 public:
+    friend class PayloadPlace;  // in case wp_run is accidentally required
+
     // inherit constructor
     using Mode::Mode;
     Number mode_number() const override { return auto_RTL? Number::AUTO_RTL : Number::AUTO; }
@@ -548,10 +583,6 @@ class ModeAuto : public Mode {
     Location loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc) const;
 
     void payload_place_run();
-    bool payload_place_run_should_run();
-    void payload_place_run_hover();
-    void payload_place_run_descent();
-    void payload_place_run_release();
 
     SubMode _mode = SubMode::TAKEOFF;   // controls which auto controller is run
 
@@ -640,16 +671,6 @@ class ModeAuto : public Mode {
     };
     State state = State::FlyToLocation;
 
-    struct {
-        PayloadPlaceStateType state = PayloadPlaceStateType_Descent_Start; // records state of payload place
-        uint32_t descent_established_time_ms; // milliseconds
-        uint32_t place_start_time_ms; // milliseconds
-        float descent_thrust_level;
-        float descent_start_altitude_cm;
-        float descent_speed_cms;
-        float descent_max_cm;
-    } nav_payload_place;
-
     bool waiting_to_start;  // true if waiting for vehicle to be armed or EKF origin before starting mission
 
     // True if we have entered AUTO to perform a DO_LAND_START landing sequence and we should report as AUTO RTL mode