Copter: stop Follow mode being a subclass of Guided #31412
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refactoring over the years means it no longer needs any functionality that Guided once gave it.
lthall
reviewed
Oct 31, 2025
| bool is_autopilot() const override { return true; } | ||
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| // the following method's return value is dubious and should be evaluated: | ||
| bool has_user_takeoff(bool must_navigate) const override { return true; } |
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Follow mode has not be designed to include a takeoff safely yet. That will require more careful thought.
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OK, please note that I added this because it's existing behaviour. I think we should remove that behaviour - which is just removing this method, I believe.
| bool requires_terrain_failsafe() const override { return true; } | ||
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| // Return true if the throttle high arming check can be skipped when arming from GCS or Scripting | ||
| bool allows_GCS_or_SCR_arming_with_throttle_high() const override { return true; } |
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We should not need to arm in guided given we should not be taking off..
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Again - I blieve you can arm in follow or scripting even with throttle high. I think we should remove this method too :-)
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refactoring over the years means it no longer needs any functionality that Guided once gave it.
I have copied in a few methods to retain existing behaviour, but I think we should consider changing some of these.
... e.g. I don't believe terrain failsafe is relevant as this is a velocity controller now.
... e.g. I don't think we want all of the behaviour that
is_guided_mode()returning true suggests... e.g. should we even allow takeoff in follow mode?!