Custom Flight Mode - Help

ArduPlane
1

Hello, I’m testing creating a new mode by copying the Auto mode. Are the changes I made correct, and how do I compile and add it to Mission Planner?

  1. Changes in mode.h:

    • I added the POYRAZ mode among the autopilot modes. The new mode was added as follows:
      enum class Number {
    // ...
    POYRAZ =     27,  // your new flight mode
};

  2. ModePoyraz Class:

    • I created the ModePoyraz class and customized it by copying the behavior of the Auto mode.
      class ModePoyraz : public Mode {
public:
    friend class Plane;

    Number mode_number() const override { return Number::POYRAZ; }
    const char *name() const override { return "POYRAZ"; }
    const char *name4() const override { return "POYRAZ"; }

    bool does_automatic_thermal_switch() const override { return true; }

    void update() override;
    void navigate() override;

    bool allows_throttle_nudging() const override { return true; }
    bool does_auto_navigation() const override;
    bool does_auto_throttle() const override;
    bool mode_allows_autotuning() const override { return true; }
    bool is_landing() const override;

    void do_nav_delay(const AP_Mission::Mission_Command& cmd);
    bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
    bool verify_altitude_wait(const AP_Mission::Mission_Command& cmd);

    void run() override;
protected:
    bool _enter() override;
    void _exit() override;
    bool _pre_arm_checks(size_t buflen, char *buffer) const override;
private:
    struct {
        uint32_t time_max_ms;
        uint32_t time_start_ms;
    } nav_delay;

    void wiggle_servos();
    struct {
        uint8_t stage;
        uint32_t last_ms;
    } wiggle;
};

  3. mode_poyraz.cpp and mode_poyraz.h Files:

    • I created the mode_poyraz.cpp and mode_poyraz.h files by copying the functionality of the Auto mode.

  4. Changes in Plane.h:

    • I created instances of ModeAuto and ModePoyraz and associated them as follows:
      ModeAuto mode_auto;
ModePoyraz mode_poyraz;

friend class ModeAuto;
friend class ModePoyraz;

  5. Changes in control_modes.cpp:

    • I added the necessary code to handle the POYRAZ mode:
      case Mode::Number::POYRAZ:
    ret = &mode_poyraz;
    break;

  6. Changes in Parameters.cpp:

    • I changed the parameter to FLIGHT_MODE_7 as follows:
      GSCALAR(FLIGHT_MODE_7, "POYRAZ_UAV", FLIGHT_MODE_7);
    • Additionally, I defined the FLIGHT_MODE_7 macro in the config.h file as:
      #if !defined(FLIGHT_MODE_7)
# define FLIGHT_MODE_7                  Mode::Number::POYRAZ
#endif