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Rework flight mode override mechanism 

Previous version would require plugin to override all the
isFooFlightMode methods to work correctly. Now just change mode name
and regular plugin code works correctly.
QGC4.4
DonLakeFlyer 8 years ago
parent
01dc49bd39
commit
48ffa75927
2 changed files with 84 additions and 65 deletions
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  1. 96
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
  2. 53
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

96
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
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@ -26,25 +26,24 @@ @@ -26,25 +26,24 @@
#include "px4_custom_mode.h"
const char* PX4FirmwarePlugin::_manualFlightMode = "Manual";
const char* PX4FirmwarePlugin::_altCtlFlightMode = "Altitude";
const char* PX4FirmwarePlugin::_posCtlFlightMode = "Position";
const char* PX4FirmwarePlugin::_missionFlightMode = "Mission";
const char* PX4FirmwarePlugin::_holdFlightMode = "Hold";
const char* PX4FirmwarePlugin::_takeoffFlightMode = "Takeoff";
const char* PX4FirmwarePlugin::_landingFlightMode = "Land";
const char* PX4FirmwarePlugin::_rtlFlightMode = "Return";
const char* PX4FirmwarePlugin::_acroFlightMode = "Acro";
const char* PX4FirmwarePlugin::_offboardFlightMode = "Offboard";
const char* PX4FirmwarePlugin::_stabilizedFlightMode = "Stabilized";
const char* PX4FirmwarePlugin::_rattitudeFlightMode = "Rattitude";
const char* PX4FirmwarePlugin::_followMeFlightMode = "Follow Me";
const char* PX4FirmwarePlugin::_rtgsFlightMode = "Return to Groundstation";
const char* PX4FirmwarePlugin::_readyFlightMode = "Ready";
const char* PX4FirmwarePlugin::_simpleFlightMode = "Simple";
PX4FirmwarePlugin::PX4FirmwarePlugin(void)
: _versionNotified(false)
: _manualFlightMode(tr("Manual"))
, _acroFlightMode(tr("Acro"))
, _stabilizedFlightMode(tr("Stabilized"))
, _rattitudeFlightMode(tr("Rattitude"))
, _altCtlFlightMode(tr("Altitude"))
, _posCtlFlightMode(tr("Position"))
, _offboardFlightMode(tr("Offboard"))
, _readyFlightMode(tr("Ready"))
, _takeoffFlightMode(tr("Takeoff"))
, _holdFlightMode(tr("Hold"))
, _missionFlightMode(tr("Mission"))
, _rtlFlightMode(tr("Return"))
, _landingFlightMode(tr("Land"))
, _rtgsFlightMode(tr("Return to Groundstation"))
, _followMeFlightMode(tr("Follow Me"))
, _simpleFlightMode(tr("Simple"))
, _versionNotified(false)
{
qmlRegisterType<PX4AdvancedFlightModesController> ("QGroundControl.Controllers", 1, 0, "PX4AdvancedFlightModesController");
qmlRegisterType<PX4SimpleFlightModesController> ("QGroundControl.Controllers", 1, 0, "PX4SimpleFlightModesController");
@ -56,31 +55,50 @@ PX4FirmwarePlugin::PX4FirmwarePlugin(void) @@ -56,31 +55,50 @@ PX4FirmwarePlugin::PX4FirmwarePlugin(void)
struct Modes2Name {
uint8_t main_mode;
uint8_t sub_mode;
const char* name; ///< Name for flight mode
bool canBeSet; ///< true: Vehicle can be set to this flight mode
bool fixedWing; /// fixed wing compatible
bool multiRotor; /// multi rotor compatible
};
static const struct Modes2Name rgModes2Name[] = {
//main_mode sub_mode name canBeSet FW MC
{ PX4_CUSTOM_MAIN_MODE_MANUAL, 0, PX4FirmwarePlugin::_manualFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_STABILIZED, 0, PX4FirmwarePlugin::_stabilizedFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_ACRO, 0, PX4FirmwarePlugin::_acroFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_RATTITUDE, 0, PX4FirmwarePlugin::_rattitudeFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_ALTCTL, 0, PX4FirmwarePlugin::_altCtlFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_POSCTL, 0, PX4FirmwarePlugin::_posCtlFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_SIMPLE, 0, PX4FirmwarePlugin::_simpleFlightMode, true, false, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, PX4FirmwarePlugin::_holdFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, PX4FirmwarePlugin::_missionFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTL, PX4FirmwarePlugin::_rtlFlightMode, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, PX4FirmwarePlugin::_followMeFlightMode, true, false, true },
{ PX4_CUSTOM_MAIN_MODE_OFFBOARD, 0, PX4FirmwarePlugin::_offboardFlightMode, true, false, true },
//main_mode sub_mode canBeSet FW MC
{ PX4_CUSTOM_MAIN_MODE_MANUAL, 0, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_STABILIZED, 0, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_ACRO, 0, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_RATTITUDE, 0, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_ALTCTL, 0, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_POSCTL, 0, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_SIMPLE, 0, true, false, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTL, true, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, true, false, true },
{ PX4_CUSTOM_MAIN_MODE_OFFBOARD, 0, true, false, true },
// modes that can't be directly set by the user
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, PX4FirmwarePlugin::_landingFlightMode, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, PX4FirmwarePlugin::_readyFlightMode, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTGS, PX4FirmwarePlugin::_rtgsFlightMode, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, PX4FirmwarePlugin::_takeoffFlightMode, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTGS, false, true, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, false, true, true },
};
// Must be in same order as above structure
const QString* rgModeNames[] = {
&_manualFlightMode,
&_stabilizedFlightMode,
&_acroFlightMode,
&_rattitudeFlightMode,
&_altCtlFlightMode,
&_posCtlFlightMode,
&_simpleFlightMode,
&_holdFlightMode,
&_missionFlightMode,
&_rtlFlightMode,
&_followMeFlightMode,
&_offboardFlightMode,
&_landingFlightMode,
&_readyFlightMode,
&_rtgsFlightMode,
&_takeoffFlightMode,
};
// Convert static information to dynamic list. This allows for plugin override class to manipulate list.
@ -91,7 +109,7 @@ PX4FirmwarePlugin::PX4FirmwarePlugin(void) @@ -91,7 +109,7 @@ PX4FirmwarePlugin::PX4FirmwarePlugin(void)
info.main_mode = pModes2Name->main_mode;
info.sub_mode = pModes2Name->sub_mode;
info.name = pModes2Name->name;
info.name = rgModeNames[i];
info.canBeSet = pModes2Name->canBeSet;
info.fixedWing = pModes2Name->fixedWing;
info.multiRotor = pModes2Name->multiRotor;
@ -125,7 +143,7 @@ QStringList PX4FirmwarePlugin::flightModes(Vehicle* vehicle) @@ -125,7 +143,7 @@ QStringList PX4FirmwarePlugin::flightModes(Vehicle* vehicle)
bool other = !vehicle->fixedWing() && !vehicle->multiRotor();
if (fw || mc || other) {
flightModes += info.name;
flightModes += *info.name;
}
}
}
@ -144,7 +162,7 @@ QString PX4FirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode) c @@ -144,7 +162,7 @@ QString PX4FirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode) c
bool found = false;
foreach (const FlightModeInfo_t& info, _flightModeInfoList) {
if (info.main_mode == px4_mode.main_mode && info.sub_mode == px4_mode.sub_mode) {
flightMode = info.name;
flightMode = *info.name;
found = true;
break;
}

53
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
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@ -63,38 +63,39 @@ public: @@ -63,38 +63,39 @@ public:
QString rtlFlightMode (void) override;
QString takeControlFlightMode (void) override;
// NOTE: For internal use only. Do not use in mainline QGC code.
// Use these constants to set flight modes using setFlightMode method. Don't use hardcoded string names since the
// names may change.
static const char* _manualFlightMode;
static const char* _acroFlightMode;
static const char* _stabilizedFlightMode;
static const char* _rattitudeFlightMode;
static const char* _altCtlFlightMode;
static const char* _posCtlFlightMode;
static const char* _offboardFlightMode;
static const char* _readyFlightMode;
static const char* _takeoffFlightMode;
static const char* _holdFlightMode;
static const char* _missionFlightMode;
static const char* _rtlFlightMode;
static const char* _landingFlightMode;
static const char* _rtgsFlightMode;
static const char* _followMeFlightMode;
static const char* _simpleFlightMode;
protected:
typedef struct {
uint8_t main_mode;
uint8_t sub_mode;
QString name; ///< Name for flight mode
bool canBeSet; ///< true: Vehicle can be set to this flight mode
bool fixedWing; /// fixed wing compatible
bool multiRotor; /// multi rotor compatible
uint8_t main_mode;
uint8_t sub_mode;
const QString* name; ///< Name for flight mode
bool canBeSet; ///< true: Vehicle can be set to this flight mode
bool fixedWing; /// fixed wing compatible
bool multiRotor; /// multi rotor compatible
} FlightModeInfo_t;
QList<FlightModeInfo_t> _flightModeInfoList;
// Use these constants to set flight modes using setFlightMode method. Don't use hardcoded string names since the
// names may change.
// If plugin superclass wants to change a mode name, then set a new name for the flight mode in the superclass constructor
QString _manualFlightMode;
QString _acroFlightMode;
QString _stabilizedFlightMode;
QString _rattitudeFlightMode;
QString _altCtlFlightMode;
QString _posCtlFlightMode;
QString _offboardFlightMode;
QString _readyFlightMode;
QString _takeoffFlightMode;
QString _holdFlightMode;
QString _missionFlightMode;
QString _rtlFlightMode;
QString _landingFlightMode;
QString _rtgsFlightMode;
QString _followMeFlightMode;
QString _simpleFlightMode;
private:
void _handleAutopilotVersion(Vehicle* vehicle, mavlink_message_t* message);

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