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PX4 only show FW/MC modes

QGC4.4
Daniel Agar 9 years ago
parent
71b9b3d73d
commit
6043cf9515
6 changed files with 36 additions and 22 deletions
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  1. 3
      src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
  2. 2
      src/FirmwarePlugin/APM/APMFirmwarePlugin.h
  3. 5
      src/FirmwarePlugin/FirmwarePlugin.h
  4. 44
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
  5. 2
      src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
  6. 2
      src/Vehicle/Vehicle.cc

3
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
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@ -167,8 +167,9 @@ QList<VehicleComponent*> APMFirmwarePlugin::componentsForVehicle(AutoPilotPlugin @@ -167,8 +167,9 @@ QList<VehicleComponent*> APMFirmwarePlugin::componentsForVehicle(AutoPilotPlugin
return QList<VehicleComponent*>();
}
QStringList APMFirmwarePlugin::flightModes(void)
QStringList APMFirmwarePlugin::flightModes(Vehicle* vehicle)
{
Q_UNUSED(vehicle)
QStringList flightModesList;
foreach (const APMCustomMode& customMode, _supportedModes) {
if (customMode.canBeSet()) {

2
src/FirmwarePlugin/APM/APMFirmwarePlugin.h
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@ -87,7 +87,7 @@ public: @@ -87,7 +87,7 @@ public:
QList<MAV_CMD> supportedMissionCommands(void) final;
bool isCapable(FirmwareCapabilities capabilities);
QStringList flightModes(void) final;
QStringList flightModes(Vehicle* vehicle) final;
QString flightMode(uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
bool isGuidedMode(const Vehicle* vehicle) const final;

5
src/FirmwarePlugin/FirmwarePlugin.h
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@ -84,7 +84,10 @@ public: @@ -84,7 +84,10 @@ public:
virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle);
/// Returns the list of available flight modes
virtual QStringList flightModes(void) { return QStringList(); }
virtual QStringList flightModes(Vehicle* vehicle) {
Q_UNUSED(vehicle);
return QStringList();
}
/// Returns the name for this flight mode. Flight mode names must be human readable as well as audio speakable.
/// @param base_mode Base mode from mavlink HEARTBEAT message

44
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
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@ -68,6 +68,8 @@ struct Modes2Name { @@ -68,6 +68,8 @@ struct Modes2Name {
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
};
const char* PX4FirmwarePlugin::manualFlightMode = "Manual";
@ -89,21 +91,21 @@ const char* PX4FirmwarePlugin::followMeFlightMode = "Follow Me"; @@ -89,21 +91,21 @@ const char* PX4FirmwarePlugin::followMeFlightMode = "Follow Me";
/// Tranlates from PX4 custom modes to flight mode names
static const struct Modes2Name rgModes2Name[] = {
{ 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 },
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_ME, PX4FirmwarePlugin::followMeFlightMode, true },
{ PX4_CUSTOM_MAIN_MODE_MANUAL, 0, PX4FirmwarePlugin::manualFlightMode, true, true, true},
{ PX4_CUSTOM_MAIN_MODE_ACRO, 0, PX4FirmwarePlugin::acroFlightMode, true, false, true},
{ PX4_CUSTOM_MAIN_MODE_STABILIZED, 0, PX4FirmwarePlugin::stabilizedFlightMode, true, true, true},
{ PX4_CUSTOM_MAIN_MODE_RATTITUDE, 0, PX4FirmwarePlugin::rattitudeFlightMode, true, false, 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_OFFBOARD, 0, PX4FirmwarePlugin::offboardFlightMode, true, 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_TAKEOFF, PX4FirmwarePlugin::takeoffFlightMode, false, true, true},
{ PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_LOITER, PX4FirmwarePlugin::pauseFlightMode, 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_LAND, PX4FirmwarePlugin::landingFlightMode, 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_FOLLOW_ME, PX4FirmwarePlugin::followMeFlightMode, true, true, true},
};
QList<VehicleComponent*> PX4FirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
@ -113,7 +115,7 @@ QList<VehicleComponent*> PX4FirmwarePlugin::componentsForVehicle(AutoPilotPlugin @@ -113,7 +115,7 @@ QList<VehicleComponent*> PX4FirmwarePlugin::componentsForVehicle(AutoPilotPlugin
return QList<VehicleComponent*>();
}
QStringList PX4FirmwarePlugin::flightModes(void)
QStringList PX4FirmwarePlugin::flightModes(Vehicle* vehicle)
{
QStringList flightModes;
@ -121,7 +123,15 @@ QStringList PX4FirmwarePlugin::flightModes(void) @@ -121,7 +123,15 @@ QStringList PX4FirmwarePlugin::flightModes(void)
const struct Modes2Name* pModes2Name = &rgModes2Name[i];
if (pModes2Name->canBeSet) {
flightModes += pModes2Name->name;
bool fw = (vehicle->fixedWing() && pModes2Name->fixedWing);
bool mc = (vehicle->multiRotor() && pModes2Name->multiRotor);
// show all modes for generic, vtol, etc
bool other = !vehicle->fixedWing() && !vehicle->multiRotor();
if (fw || mc || other) {
flightModes += pModes2Name->name;
}
}
}

2
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
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@ -42,7 +42,7 @@ public: @@ -42,7 +42,7 @@ public:
QList<MAV_CMD> supportedMissionCommands(void) final;
bool isCapable (FirmwareCapabilities capabilities) final;
QStringList flightModes (void) final;
QStringList flightModes (Vehicle* vehicle) final;
QString flightMode (uint8_t base_mode, uint32_t custom_mode) const final;
bool setFlightMode (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode) final;
void setGuidedMode(Vehicle* vehicle, bool guidedMode) final;

2
src/Vehicle/Vehicle.cc
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@ -1193,7 +1193,7 @@ bool Vehicle::flightModeSetAvailable(void) @@ -1193,7 +1193,7 @@ bool Vehicle::flightModeSetAvailable(void)
QStringList Vehicle::flightModes(void)
{
return _firmwarePlugin->flightModes();
return _firmwarePlugin->flightModes(this);
}
QString Vehicle::flightMode(void) const

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