Sub: rename has_manual_throttle to requires_altitude()

Author: Williangalvani

ArduSub/Sub.cpp

@@ -246,7 +246,7 @@ void Sub::ten_hz_logging_loop()
     if (should_log(MASK_LOG_RCOUT)) {
         logger.Write_RCOUT();
     }
-    if (should_log(MASK_LOG_NTUN) && (sub.flightmode->requires_GPS() || !sub.flightmode->has_manual_throttle())) {
+    if (should_log(MASK_LOG_NTUN) && (sub.flightmode->requires_GPS() || sub.flightmode->requires_altitude())) {
         pos_control.write_log();
     }
     if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {

ArduSub/mode.cpp

@@ -95,8 +95,8 @@ bool Sub::set_mode(Mode::Number mode, ModeReason reason)
 
     // check for valid altitude if old mode did not require it but new one does
     // we only want to stop changing modes if it could make things worse
-    if (flightmode->has_manual_throttle() &&
-        !new_flightmode->has_manual_throttle() &&
+    if (!flightmode->requires_altitude() &&
+        new_flightmode->requires_altitude() &&
         !sub.control_check_barometer()) { // maybe use ekf_alt_ok() instead?
         gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: %s need alt estimate", new_flightmode->name());
         LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));

ArduSub/mode.h

@@ -64,7 +64,7 @@ class Mode
     virtual bool init(bool ignore_checks) { return true; }
     virtual void run() = 0;
     virtual bool requires_GPS() const = 0;
-    virtual bool has_manual_throttle() const = 0;
+    virtual bool requires_altitude() const = 0;
     virtual bool allows_arming(bool from_gcs) const = 0;
     virtual bool is_autopilot() const { return false; }
     virtual bool in_guided_mode() const { return false; }
@@ -198,7 +198,7 @@ class ModeManual : public Mode
     virtual void run() override;
     bool init(bool ignore_checks) override;
     bool requires_GPS() const override { return false; }
-    bool has_manual_throttle() const override { return true; }
+    bool requires_altitude() const override { return false; }
     bool allows_arming(bool from_gcs) const override { return true; }
     bool is_autopilot() const override { return false; }
 
@@ -221,7 +221,7 @@ class ModeAcro : public Mode
 
     bool init(bool ignore_checks) override;
     bool requires_GPS() const override { return false; }
-    bool has_manual_throttle() const override { return true; }
+    bool requires_altitude() const override { return false; }
     bool allows_arming(bool from_gcs) const override { return true; }
     bool is_autopilot() const override { return false; }
 
@@ -244,7 +244,7 @@ class ModeStabilize : public Mode
 
     bool init(bool ignore_checks) override;
     bool requires_GPS() const override { return false; }
-    bool has_manual_throttle() const override { return true; }
+    bool requires_altitude() const override { return false; }
     bool allows_arming(bool from_gcs) const override { return true; }
     bool is_autopilot() const override { return false; }
 
@@ -267,7 +267,7 @@ class ModeAlthold : public Mode
 
     bool init(bool ignore_checks) override;
     bool requires_GPS() const override { return false; }
-    bool has_manual_throttle() const override { return false; }
+    bool requires_altitude() const override { return true; }
     bool allows_arming(bool from_gcs) const override { return true; }
     bool is_autopilot() const override { return false; }
     void control_depth();
@@ -326,7 +326,7 @@ class ModeGuided : public Mode
 
     bool init(bool ignore_checks) override;
     bool requires_GPS() const override { return true; }
-    bool has_manual_throttle() const override { return false; }
+    bool requires_altitude() const override { return true; }
     bool allows_arming(bool from_gcs) const override { return true; }
     bool is_autopilot() const override { return true; }
     bool in_guided_mode() const override { return true; }
@@ -380,7 +380,7 @@ class ModeAuto : public ModeGuided
 
     bool init(bool ignore_checks) override;
     bool requires_GPS() const override { return true; }
-    bool has_manual_throttle() const override { return false; }
+    bool requires_altitude() const override { return true; }
     bool allows_arming(bool from_gcs) const override { return true; }
     bool is_autopilot() const override { return true; }
     bool auto_loiter_start();
@@ -421,7 +421,7 @@ class ModePoshold : public ModeAlthold
     bool init(bool ignore_checks) override;
 
     bool requires_GPS() const override { return true; }
-    bool has_manual_throttle() const override { return false; }
+    bool requires_altitude() const override { return true; }
     bool allows_arming(bool from_gcs) const override { return true; }
     bool is_autopilot() const override { return true; }
 
@@ -448,7 +448,7 @@ class ModeCircle : public Mode
 
     bool init(bool ignore_checks) override;
     bool requires_GPS() const override { return true; }
-    bool has_manual_throttle() const override { return false; }
+    bool requires_altitude() const override { return true; }
     bool allows_arming(bool from_gcs) const override { return true; }
     bool is_autopilot() const override { return true; }
 
@@ -470,15 +470,15 @@ class ModeSurface : public Mode
 
     bool init(bool ignore_checks) override;
     bool requires_GPS() const override { return false; }
-    bool has_manual_throttle() const override { return false; }
+    bool requires_altitude() const override { return false; }
     bool allows_arming(bool from_gcs) const override { return true; }
     bool is_autopilot() const override { return true; }
 
 protected:
     const char *name() const override { return "SURFACE"; }
     const char *name4() const override { return "SURF"; }
     Mode::Number number() const override { return Mode::Number::SURFACE; }
-    bool sensorless_mode;
+    bool nobaro_mode;
 };
 
 
@@ -493,7 +493,7 @@ class ModeMotordetect : public Mode
 
     bool init(bool ignore_checks) override;
     bool requires_GPS() const override { return false; }
-    bool has_manual_throttle() const override { return false; }
+    bool requires_altitude() const override { return false; }
     bool allows_arming(bool from_gcs) const override { return true; }
     bool is_autopilot() const override { return true; }
 

ArduSub/mode_surface.cpp

@@ -3,7 +3,7 @@
 
 bool ModeSurface::init(bool ignore_checks)
 {
-    sensorless_mode = !sub.control_check_barometer();
+    nobaro_mode = !sub.control_check_barometer();
 
     // initialize vertical speeds and acceleration
     position_control->set_max_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
@@ -30,8 +30,9 @@ void ModeSurface::run()
         return;
     }
 
-    if (sensorless_mode) {
-        float thrust_output = 0.5f + g2.surface_sensorless_thrust * 0.005f; // map -100, 100 to 0, 1
+    // If no barometer is available, use the surface_nobaro_thrust parameter to set the throttle output
+    if (nobaro_mode) {
+        float thrust_output = 0.5f + g2.surface_nobaro_thrust * 0.005f; // map -100, 100 to 0, 1
         attitude_control->set_throttle_out(thrust_output, true, g.throttle_filt);
     } else {
         // Already at surface, hold depth at surface