Adding a new flight mode but failed the compilation for SITL

ArduCopter Copter Simulation
1

Hi,

This is my first post here, and I genuinely want to seek some help on adding a new flight mode for SITL.

I followed the instructions here to add a new flight mode called “ADAPTIVE”: Adding a New Flight Mode to Copter — Dev documentation

My current repository is here: GitHub - Sheng-Cheng/geometricL1ArduCopter

I tried to test the newly added mode in SITL and I ran the following code under ArduCopter/
$ …/Tools/autotest/sim_vehicle.py -v ArduCopter --console --map

I got errors below:
[819/884] Compiling ArduCopter/mode_acro.cpp
In file included from …/…/ArduCopter/RC_Channel.h:5:0,
from …/…/ArduCopter/Copter.h:92,
from …/…/ArduCopter/GCS_Mavlink.cpp:1:
…/…/ArduCopter/mode.h:1761:10: error: ‘bool ModeAdaptive::allows_arming(bool) const’ marked ‘override’, but does not override
bool allows_arming(bool from_gcs) const override { return true; };
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/RC_Channel.h:5:0,
from …/…/ArduCopter/Copter.h:92,
from …/…/ArduCopter/esc_calibration.cpp:1:
…/…/ArduCopter/mode.h:1761:10: error: ‘bool ModeAdaptive::allows_arming(bool) const’ marked ‘override’, but does not override
bool allows_arming(bool from_gcs) const override { return true; };
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/RC_Channel.h:5:0,
from …/…/ArduCopter/Copter.h:92,
from …/…/ArduCopter/surface_tracking.cpp:1:
…/…/ArduCopter/mode.h:1761:10: error: ‘bool ModeAdaptive::allows_arming(bool) const’ marked ‘override’, but does not override
bool allows_arming(bool from_gcs) const override { return true; };
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/RC_Channel.h:5:0,
from …/…/ArduCopter/Copter.h:92,
from …/…/ArduCopter/land_detector.cpp:1:
…/…/ArduCopter/mode.h:1761:10: error: ‘bool ModeAdaptive::allows_arming(bool) const’ marked ‘override’, but does not override
bool allows_arming(bool from_gcs) const override { return true; };
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/RC_Channel.h:5:0,
from …/…/ArduCopter/Copter.h:92,
from …/…/ArduCopter/mode_rtl.cpp:1:
…/…/ArduCopter/mode.h:1761:10: error: ‘bool ModeAdaptive::allows_arming(bool) const’ marked ‘override’, but does not override
bool allows_arming(bool from_gcs) const override { return true; };
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/RC_Channel.h:5:0,
from …/…/ArduCopter/Copter.h:92,
from …/…/ArduCopter/RC_Channel.cpp:1:
…/…/ArduCopter/mode.h:1761:10: error: ‘bool ModeAdaptive::allows_arming(bool) const’ marked ‘override’, but does not override
bool allows_arming(bool from_gcs) const override { return true; };
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/RC_Channel.h:5:0,
from …/…/ArduCopter/Copter.h:92,
from …/…/ArduCopter/toy_mode.cpp:1:
…/…/ArduCopter/mode.h:1761:10: error: ‘bool ModeAdaptive::allows_arming(bool) const’ marked ‘override’, but does not override
bool allows_arming(bool from_gcs) const override { return true; };
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/RC_Channel.h:5:0,
from …/…/ArduCopter/Copter.h:92,
from …/…/ArduCopter/mode_acro.cpp:1:
…/…/ArduCopter/mode.h:1761:10: error: ‘bool ModeAdaptive::allows_arming(bool) const’ marked ‘override’, but does not override
bool allows_arming(bool from_gcs) const override { return true; };
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

Waf: Leaving directory `/home/sheng/ardupilot/build/sitl’
Build failed
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 140410551012432: cxx GCS_Mavlink.cpp → GCS_Mavlink.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 140410551104592: cxx esc_calibration.cpp → esc_calibration.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 140410551147344: cxx surface_tracking.cpp → surface_tracking.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 140410551105360: cxx land_detector.cpp → land_detector.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 140410551145296: cxx mode_rtl.cpp → mode_rtl.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 140410551012816: cxx RC_Channel.cpp → RC_Channel.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 140410551147856: cxx toy_mode.cpp → toy_mode.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 140410551105872: cxx mode_acro.cpp → mode_acro.cpp.40.o}
(run with -v to display more information)
SIM_VEHICLE: Build failed
SIM_VEHICLE: Killing tasks

Any suggestions on how to proceed with my new flight mode in SITL would be helpful! Thank you!

2 
bool allows_arming(bool from_gcs) const override { return true; };

You cant change the argument types. it must still be

bool allows_arming(AP_Arming::Method method) const override;

So I guess you want to only arm from the GCS so you would do this:

bool allows_arming(AP_Arming::Method method) const override { return method == AP_Arming::Method::MAVLINK; }
3

Thank you, Peter!

It’s weird to me: I copied the line of code that you modified from the instructions. But it didn’t work.

Anyway, I tried the two modifications you suggested. The updated repository is here: GitHub - Sheng-Cheng/geometricL1ArduCopter
But I got the following errors when compiling:

[818/884] Compiling ArduCopter/baro_ground_effect.cpp
In file included from …/…/ArduCopter/mode_stabilize_heli.cpp:1:0:
…/…/ArduCopter/Copter.h:990:18: error: cannot declare field ‘Copter::mode_adaptive’ to be of abstract type ‘ModeAdaptive’
ModeAdaptive mode_adaptive;
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/AP_Rally.cpp:18:0:
…/…/ArduCopter/Copter.h:990:18: error: cannot declare field ‘Copter::mode_adaptive’ to be of abstract type ‘ModeAdaptive’
ModeAdaptive mode_adaptive;
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/mode_stabilize.cpp:1:0:
…/…/ArduCopter/Copter.h:990:18: error: cannot declare field ‘Copter::mode_adaptive’ to be of abstract type ‘ModeAdaptive’
ModeAdaptive mode_adaptive;
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/avoidance_adsb.cpp:1:0:
…/…/ArduCopter/Copter.h:990:18: error: cannot declare field ‘Copter::mode_adaptive’ to be of abstract type ‘ModeAdaptive’
ModeAdaptive mode_adaptive;
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/motors.cpp:1:0:
…/…/ArduCopter/Copter.h:990:18: error: cannot declare field ‘Copter::mode_adaptive’ to be of abstract type ‘ModeAdaptive’
ModeAdaptive mode_adaptive;
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/tuning.cpp:1:0:
…/…/ArduCopter/Copter.h:990:18: error: cannot declare field ‘Copter::mode_adaptive’ to be of abstract type ‘ModeAdaptive’
ModeAdaptive mode_adaptive;
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/mode_smart_rtl.cpp:1:0:
…/…/ArduCopter/Copter.h:990:18: error: cannot declare field ‘Copter::mode_adaptive’ to be of abstract type ‘ModeAdaptive’
ModeAdaptive mode_adaptive;
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

In file included from …/…/ArduCopter/baro_ground_effect.cpp:1:0:
…/…/ArduCopter/Copter.h:990:18: error: cannot declare field ‘Copter::mode_adaptive’ to be of abstract type ‘ModeAdaptive’
ModeAdaptive mode_adaptive;
^~~~~~~~~~~~~
compilation terminated due to -Wfatal-errors.

Waf: Leaving directory `/home/sheng/ardupilot/build/sitl’
Build failed
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 139645910824528: cxx mode_stabilize_heli.cpp → mode_stabilize_heli.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 139645912366288: cxx AP_Rally.cpp → AP_Rally.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 139645910824400: cxx mode_stabilize.cpp → mode_stabilize.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 139645911458512: cxx avoidance_adsb.cpp → avoidance_adsb.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 139645910825296: cxx motors.cpp → motors.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 139645910826704: cxx tuning.cpp → tuning.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 139645910824144: cxx mode_smart_rtl.cpp → mode_smart_rtl.cpp.40.o}
(run with -v to display more information)
→ task in ‘bin/arducopter’ failed (exit status 1):
{task 139645911458256: cxx baro_ground_effect.cpp → baro_ground_effect.cpp.40.o}
(run with -v to display more information)
SIM_VEHICLE: Build failed
SIM_VEHICLE: Killing tasks

Something seems wrong with the declaration. Any suggestion would be appreciated!

4

The instructions are abit out of date.

You need to implement the functions in the .h currently there is no init or allows_arming

You can just to that in the .h. My suggested line implements allows_arming and you can change init to:

bool init(bool ignore_checks) override { return true; }
5

I tried the line you suggested. But the compilation errors remain.

Instead of following the out-of-date instructions, I simply copied the class definition from mode stabilize. Below is the current version:

class ModeAdaptive : public Mode {
public:
// inherit constructor
using Mode::Mode;

Number mode_number() const override { return Number::ADAPTIVE; }

void run() override;

bool requires_GPS() const override { return false; }
bool has_manual_throttle() const override { return true; }
bool allows_arming(AP_Arming::Method method) const override { return true; };
bool is_autopilot() const override { return false; }
bool allows_save_trim() const override { return true; }
bool allows_autotune() const override { return true; }
bool allows_flip() const override { return true; }

protected:

const char *name() const override {return "ADAPTIVE"; }
const char *name4() const override {return "ADPT"; }
// The name() and name4() methods are for logging and display purposes.

private:

};

Now there’s only one error (i believe I’m close)
[828/884] Compiling ArduCopter/fence.cpp
…/…/ArduCopter/mode_adaptive.cpp: In member function ‘virtual void ModeAdaptive::run()’:
…/…/ArduCopter/mode_adaptive.cpp:18:69: error: ‘AP_Vehicle::MultiCopter Copter::aparm’ is private within this context
get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
^~~~~
compilation terminated due to -Wfatal-errors.

Thanks!

6

add you new class as a friend here:

7

Works! Thanks a lot!

8

@ShengChen , can you explain what you have made exactly and in with file because I got the same error