Reset height and position data indoors from last known location

ArduCopter/AP_Arming_Copter.cpp

@@ -354,15 +354,16 @@ bool AP_Arming_Copter::rc_calibration_checks(bool display_failure)
 // performs pre_arm gps related checks and returns true if passed
 bool AP_Arming_Copter::gps_checks(bool display_failure)
 {
-    // check if fence requires GPS
-    bool fence_requires_gps = false;
+    // check if fence requires position
+    bool fence_requires_position = false;
 #if AP_FENCE_ENABLED
-    // if circular or polygon fence is enabled we need GPS
-    fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
+    // if circular or polygon fence is enabled we need position
+    fence_requires_position = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
 #endif
 
     // check if flight mode requires GPS
-    bool mode_requires_gps = copter.flightmode->requires_GPS() || fence_requires_gps || (copter.simple_mode == Copter::SimpleMode::SUPERSIMPLE);
+    const bool mode_requires_position = copter.flightmode->requires_position() || fence_requires_position || (copter.simple_mode == Copter::SimpleMode::SUPERSIMPLE);
+    const bool mode_requires_gps = AP::ahrs().using_gps() && mode_requires_position;
 
     // call parent gps checks
     if (mode_requires_gps) {
@@ -372,8 +373,8 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
         }
     }
 
-    // run mandatory gps checks first
-    if (!mandatory_gps_checks(display_failure)) {
+    // run mandatory position checks first
+    if (!mandatory_position_checks(display_failure)) {
         AP_Notify::flags.pre_arm_gps_check = false;
         return false;
     }
@@ -439,34 +440,34 @@ bool AP_Arming_Copter::proximity_checks(bool display_failure) const
 }
 #endif  // HAL_PROXIMITY_ENABLED
 
-// performs mandatory gps checks.  returns true if passed
-bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
+// performs mandatory position checks.  returns true if passed
+bool AP_Arming_Copter::mandatory_position_checks(bool display_failure)
 {
-    // check if flight mode requires GPS
-    bool mode_requires_gps = copter.flightmode->requires_GPS();
+    // check if flight mode requires position
+    bool mode_requires_position = copter.flightmode->requires_position();
 
     // always check if inertial nav has started and is ready
     const auto &ahrs = AP::ahrs();
     char failure_msg[100] = {};
-    if (!ahrs.pre_arm_check(mode_requires_gps, failure_msg, sizeof(failure_msg))) {
+    if (!ahrs.pre_arm_check(mode_requires_position, failure_msg, sizeof(failure_msg))) {
         check_failed(display_failure, "AHRS: %s", failure_msg);
         return false;
     }
 
-    // check if fence requires GPS
-    bool fence_requires_gps = false;
+    // check if fence requires position estimate
+    bool fence_requires_position = false;
 #if AP_FENCE_ENABLED
-    // if circular or polygon fence is enabled we need GPS
-    fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
+    // if circular or polygon fence is enabled we need position estimate
+    fence_requires_position = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
 #endif
 
-    if (mode_requires_gps || require_location == RequireLocation::YES) {
+    if (mode_requires_position || require_location == RequireLocation::YES) {
         if (!copter.position_ok()) {
             // vehicle level position estimate checks
             check_failed(display_failure, "Need Position Estimate");
             return false;
         }
-    } else if (fence_requires_gps) {
+    } else if (fence_requires_position) {
         if (!copter.position_ok()) {
             // clarify to user why they need GPS in non-GPS flight mode
             check_failed(display_failure, "Fence enabled, need position estimate");
@@ -478,6 +479,7 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
     }
 
     // check for GPS glitch (as reported by EKF)
+    // this can only be true if the EKF is using the GPS
     nav_filter_status filt_status;
     if (ahrs.get_filter_status(filt_status)) {
         if (filt_status.flags.gps_glitching) {
@@ -650,8 +652,8 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
 // mandatory checks that will be run if ARMING_SKIPCHK skips all or arming forced
 bool AP_Arming_Copter::mandatory_checks(bool display_failure)
 {
-    // call mandatory gps checks and update notify status because regular gps checks will not run
-    bool result = mandatory_gps_checks(display_failure);
+    // call mandatory position checks and update notify status because regular position checks will not run
+    bool result = mandatory_position_checks(display_failure);
     AP_Notify::flags.pre_arm_gps_check = result;
 
     // call mandatory alt check

ArduCopter/AP_Arming_Copter.h

@@ -44,7 +44,7 @@ class AP_Arming_Copter : public AP_Arming
     // NOTE! the following check functions *DO NOT* call into AP_Arming!
     bool parameter_checks(bool display_failure);
     bool oa_checks(bool display_failure);
-    bool mandatory_gps_checks(bool display_failure);
+    bool mandatory_position_checks(bool display_failure);
     bool gcs_failsafe_check(bool display_failure);
     bool winch_checks(bool display_failure) const;
     bool alt_checks(bool display_failure);

ArduCopter/Copter.cpp

@@ -691,7 +691,7 @@ void Copter::ten_hz_logging_loop()
     if (should_log(MASK_LOG_RCOUT)) {
         logger.Write_RCOUT();
     }
-    if (should_log(MASK_LOG_NTUN) && (flightmode->requires_GPS() || landing_with_GPS() || !flightmode->has_manual_throttle())) {
+    if (should_log(MASK_LOG_NTUN) && (flightmode->requires_position() || landing_with_GPS() || !flightmode->has_manual_throttle())) {
         pos_control->write_log();
     }
     if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {

ArduCopter/Log.cpp

@@ -92,7 +92,7 @@ void Copter::Log_Write_PIDS()
         logger.Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info());
         logger.Write_PID(LOG_PIDY_MSG, attitude_control->get_rate_yaw_pid().get_pid_info());
         logger.Write_PID(LOG_PIDA_MSG, pos_control->D_get_accel_pid().get_pid_info() );
-        if (should_log(MASK_LOG_NTUN) && (flightmode->requires_GPS() || landing_with_GPS())) {
+        if (should_log(MASK_LOG_NTUN) && (flightmode->requires_position() || landing_with_GPS())) {
             logger.Write_PID(LOG_PIDN_MSG, pos_control->NE_get_vel_pid().get_pid_info_x());
             logger.Write_PID(LOG_PIDE_MSG, pos_control->NE_get_vel_pid().get_pid_info_y());
         }

ArduCopter/ekf_check.cpp

@@ -187,7 +187,7 @@ void Copter::failsafe_ekf_event()
     }
 
     // does this mode require position?
-    const bool no_action_in_current_mode = !copter.flightmode->requires_GPS() && (g.fs_ekf_action != FS_EKF_ACTION_LAND_EVEN_STABILIZE);
+    const bool no_action_in_current_mode = !copter.flightmode->requires_position() && (g.fs_ekf_action != FS_EKF_ACTION_LAND_EVEN_STABILIZE);
 
     if (report_only || landing_with_position || no_action_in_current_mode) {
         gcs().send_text(MAV_SEVERITY_CRITICAL, "EKF Failsafe");

ArduCopter/events.cpp

@@ -367,7 +367,7 @@ void Copter::failsafe_deadreckon_check()
         failsafe.deadreckon = ekf_dead_reckoning;
 
         // only take action in modes requiring position estimate
-        if (failsafe.deadreckon && copter.flightmode->requires_GPS()) {
+        if (failsafe.deadreckon && copter.flightmode->requires_position()) {
 
             // log error
             LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_DEADRECKON, LogErrorCode::FAILSAFE_OCCURRED);

ArduCopter/mode.cpp

@@ -302,7 +302,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
 #endif
 
     if (!ignore_checks &&
-        new_flightmode->requires_GPS() &&
+        new_flightmode->requires_position() &&
         !copter.position_ok()) {
         mode_change_failed(new_flightmode, "requires position");
         return false;

ArduCopter/mode.h

@@ -125,7 +125,7 @@ class Mode {
     }
     virtual void exit() {};
     virtual void run() = 0;
-    virtual bool requires_GPS() const = 0;
+    virtual bool requires_position() const = 0;
     virtual bool has_manual_throttle() const = 0;
     virtual bool allows_arming(AP_Arming::Method method) const = 0;
     virtual bool is_autopilot() const = 0;
@@ -446,7 +446,7 @@ class ModeAcro : public Mode {
 
     virtual void run() override;
 
-    bool requires_GPS() const override { return false; }
+    bool requires_position() 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; }
@@ -502,7 +502,7 @@ class ModeAltHold : public Mode {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return false; }
+    bool requires_position() const override { return false; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
@@ -538,7 +538,7 @@ class ModeAuto : public Mode {
     void exit() override;
     void run() override;
 
-    bool requires_GPS() const override;
+    bool requires_position() const override;
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override;
     bool is_autopilot() const override { return true; }
@@ -848,7 +848,7 @@ class ModeAutoTune : public Mode {
     void exit() override;
     void run() override;
 
-    bool requires_GPS() const override { return false; }
+    bool requires_position() const override { return false; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return false; }
     bool is_autopilot() const override { return false; }
@@ -873,7 +873,7 @@ class ModeBrake : public Mode {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return true; }
+    bool requires_position() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return true; }
@@ -903,7 +903,7 @@ class ModeCircle : public Mode {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return true; }
+    bool requires_position() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return true; }
@@ -933,7 +933,7 @@ class ModeDrift : public Mode {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return true; }
+    bool requires_position() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
@@ -961,7 +961,7 @@ class ModeFlip : public Mode {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return false; }
+    bool requires_position() const override { return false; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return false; }
@@ -1008,7 +1008,7 @@ class ModeFlowHold : public Mode {
     bool init(bool ignore_checks) override;
     void run(void) override;
 
-    bool requires_GPS() const override { return false; }
+    bool requires_position() const override { return false; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
@@ -1096,7 +1096,7 @@ class ModeGuided : public Mode {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return true; }
+    bool requires_position() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override;
     bool is_autopilot() const override { return true; }
@@ -1273,7 +1273,7 @@ class ModeGuidedNoGPS : public ModeGuided {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return false; }
+    bool requires_position() const override { return false; }
     bool has_manual_throttle() const override { return false; }
     bool is_autopilot() const override { return true; }
 
@@ -1297,7 +1297,7 @@ class ModeLand : public Mode {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return false; }
+    bool requires_position() const override { return false; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return true; }
@@ -1358,7 +1358,7 @@ class ModeLoiter : public Mode {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return true; }
+    bool requires_position() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
@@ -1408,7 +1408,7 @@ class ModePosHold : public Mode {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return true; }
+    bool requires_position() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
@@ -1496,7 +1496,7 @@ class ModeRTL : public Mode {
     }
     void run(bool disarm_on_land);
 
-    bool requires_GPS() const override { return true; }
+    bool requires_position() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return true; }
@@ -1630,7 +1630,7 @@ class ModeSmartRTL : public ModeRTL {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return true; }
+    bool requires_position() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return false; }
     bool is_autopilot() const override { return true; }
@@ -1690,7 +1690,7 @@ class ModeSport : public Mode {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return false; }
+    bool requires_position() const override { return false; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
@@ -1717,7 +1717,7 @@ class ModeStabilize : public Mode {
 
     virtual void run() override;
 
-    bool requires_GPS() const override { return false; }
+    bool requires_position() 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; }
@@ -1765,7 +1765,7 @@ class ModeSystemId : public Mode {
     void run() override;
     void exit() override;
 
-    bool requires_GPS() const override { return false; }
+    bool requires_position() const override { return false; }
     bool has_manual_throttle() const override { return true; }
     bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return false; }
@@ -1844,7 +1844,7 @@ class ModeThrow : public Mode {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return true; }
+    bool requires_position() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
@@ -1902,7 +1902,7 @@ class ModeTurtle : public Mode {
     void run() override;
     void exit() override;
 
-    bool requires_GPS() const override { return false; }
+    bool requires_position() const override { return false; }
     bool has_manual_throttle() const override { return true; }
     bool allows_arming(AP_Arming::Method method) const override;
     bool is_autopilot() const override { return false; }
@@ -1941,7 +1941,7 @@ class ModeAvoidADSB : public ModeGuided {
     bool init(bool ignore_checks) override;
     void run() override;
 
-    bool requires_GPS() const override { return true; }
+    bool requires_position() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return false; }
     bool is_autopilot() const override { return true; }
@@ -1971,7 +1971,7 @@ class ModeFollow : public ModeGuided {
     void exit() override;
     void run() override;
 
-    bool requires_GPS() const override { return true; }
+    bool requires_position() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return false; }
     bool is_autopilot() const override { return true; }
@@ -2020,7 +2020,7 @@ class ModeZigZag : public Mode {
     void suspend_auto();
     void init_auto();
 
-    bool requires_GPS() const override { return true; }
+    bool requires_position() const override { return true; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return true; }
     bool is_autopilot() const override { return true; }
@@ -2100,7 +2100,7 @@ class ModeAutorotate : public Mode {
     void run() override;
 
     bool is_autopilot() const override { return true; }
-    bool requires_GPS() const override { return false; }
+    bool requires_position() const override { return false; }
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return false; };
 

ArduCopter/mode_auto.cpp

@@ -175,7 +175,7 @@ void ModeAuto::run()
 }
 
 // return true if a position estimate is required
-bool ModeAuto::requires_GPS() const
+bool ModeAuto::requires_position() const
 {
     // position estimate is required in all sub modes except attitude control
     return _mode != SubMode::NAV_ATTITUDE_TIME;