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Merge pull request #3060 from DonLakeFlyer/FMUpdate 

Update flight mode naming
QGC4.4
Don Gagne 9 years ago
parent
ff7f97bcf0 315bda6b5d
commit
4ee458b980
2 changed files with 48 additions and 16 deletions
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  1. 46
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
  2. 18
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

46
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
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@ -68,26 +68,40 @@ struct Modes2Name { @@ -68,26 +68,40 @@ struct Modes2Name {
bool canBeSet; ///< true: Vehicle can be set to this flight mode
};
const char* PX4FirmwarePlugin::manualFlightMode = "Manual";
const char* PX4FirmwarePlugin::acroFlightMode = "Acro";
const char* PX4FirmwarePlugin::stabilizedFlightMode = "Stabilized";
const char* PX4FirmwarePlugin::rattitudeFlightMode = "Rattitude";
const char* PX4FirmwarePlugin::altCtlFlightMode = "Altitude Control";
const char* PX4FirmwarePlugin::posCtlFlightMode = "Position Control";
const char* PX4FirmwarePlugin::offboardFlightMode = "Offboard Control";
const char* PX4FirmwarePlugin::readyFlightMode = "Ready";
const char* PX4FirmwarePlugin::takeoffFlightMode = "Takeoff";
const char* PX4FirmwarePlugin::pauseFlightMode = "Pause";
const char* PX4FirmwarePlugin::missionFlightMode = "Mission";
const char* PX4FirmwarePlugin::rtlFlightMode = "Return To Land";
const char* PX4FirmwarePlugin::landingFlightMode = "Landing";
const char* PX4FirmwarePlugin::rtgsFlightMode = "Return, Link Loss";
/// Tranlates from PX4 custom modes to flight mode names
static const struct Modes2Name rgModes2Name[] = {
{ PX4_CUSTOM_MAIN_MODE_MANUAL, 0, "Manual", true },
{ PX4_CUSTOM_MAIN_MODE_ACRO, 0, "Acro", true },
{ PX4_CUSTOM_MAIN_MODE_STABILIZED, 0, "Stabilized", true },
{ PX4_CUSTOM_MAIN_MODE_RATTITUDE, 0, "Rattitude", true },
{ PX4_CUSTOM_MAIN_MODE_ALTCTL, 0, "Altitude Control", true },
{ PX4_CUSTOM_MAIN_MODE_POSCTL, 0, "Position Control", true },
{ PX4_CUSTOM_MAIN_MODE_OFFBOARD, 0, "Offboard Control", true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, "Auto: Ready", false },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, "Auto: Takeoff", false },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, "Auto: Pause", true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, "Auto: Mission", true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTL, "Auto: Return To Land", true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, "Auto: Landing", false },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTGS, "Return, Link Loss", false },
{ PX4_CUSTOM_MAIN_MODE_MANUAL, 0, PX4FirmwarePlugin::manualFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_ACRO, 0, PX4FirmwarePlugin::acroFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_STABILIZED, 0, PX4FirmwarePlugin::stabilizedFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_RATTITUDE, 0, PX4FirmwarePlugin::rattitudeFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_ALTCTL, 0, PX4FirmwarePlugin::altCtlFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_POSCTL, 0, PX4FirmwarePlugin::posCtlFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_OFFBOARD, 0, PX4FirmwarePlugin::offboardFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, PX4FirmwarePlugin::readyFlightMode, false },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, PX4FirmwarePlugin::takeoffFlightMode, false },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, PX4FirmwarePlugin::pauseFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_MISSION, PX4FirmwarePlugin::missionFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTL, PX4FirmwarePlugin::rtlFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LAND, PX4FirmwarePlugin::landingFlightMode, false },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_RTGS, PX4FirmwarePlugin::rtgsFlightMode, false },
};
QList<VehicleComponent*> PX4FirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
{
Q_UNUSED(vehicle);
@ -244,5 +258,5 @@ QObject* PX4FirmwarePlugin::loadParameterMetaData(const QString& metaDataFile) @@ -244,5 +258,5 @@ QObject* PX4FirmwarePlugin::loadParameterMetaData(const QString& metaDataFile)
void PX4FirmwarePlugin::pauseVehicle(Vehicle* vehicle)
{
vehicle->setFlightMode("Auto: Pause");
vehicle->setFlightMode(pauseFlightMode);
}

18
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
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@ -56,6 +56,24 @@ public: @@ -56,6 +56,24 @@ public:
QString internalParameterMetaDataFile (void) final { return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }
void getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { PX4ParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
QObject* loadParameterMetaData (const QString& metaDataFile);
// 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* pauseFlightMode;
static const char* missionFlightMode;
static const char* rtlFlightMode;
static const char* landingFlightMode;
static const char* rtgsFlightMode;
};
#endif

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