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66 lines
2.2 KiB
66 lines
2.2 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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/// @file |
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/// @author Pritam Ghanghas <pritam.ghanghas@gmail.com> |
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#ifndef ArduRoverFirmwarePlugin_H |
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#define ArduRoverFirmwarePlugin_H |
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#include "APMFirmwarePlugin.h" |
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class APMRoverMode : public APMCustomMode |
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{ |
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public: |
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enum Mode { |
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MANUAL = 0, |
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RESERVED_1 = 1, // RESERVED FOR FUTURE USE |
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LEARNING = 2, |
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STEERING = 3, |
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HOLD = 4, |
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RESERVED_5 = 5, // RESERVED FOR FUTURE USE |
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RESERVED_6 = 6, // RESERVED FOR FUTURE USE |
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RESERVED_7 = 7, // RESERVED FOR FUTURE USE |
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RESERVED_8 = 8, // RESERVED FOR FUTURE USE |
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RESERVED_9 = 9, // RESERVED FOR FUTURE USE |
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AUTO = 10, |
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RTL = 11, |
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RESERVED_12 = 12, // RESERVED FOR FUTURE USE |
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RESERVED_13 = 13, // RESERVED FOR FUTURE USE |
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RESERVED_14 = 14, // RESERVED FOR FUTURE USE |
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GUIDED = 15, |
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INITIALIZING = 16, |
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}; |
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static const int modeCount = 17; |
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APMRoverMode(uint32_t mode, bool settable); |
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}; |
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class ArduRoverFirmwarePlugin : public APMFirmwarePlugin |
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{ |
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Q_OBJECT |
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public: |
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ArduRoverFirmwarePlugin(void); |
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// Overrides from FirmwarePlugin |
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QString pauseFlightMode (void) const override { return QString("Hold"); } |
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void guidedModeChangeAltitude (Vehicle* vehicle, double altitudeChange) final; |
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int remapParamNameHigestMinorVersionNumber (int majorVersionNumber) const final; |
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const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; } |
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bool supportsNegativeThrust(void) final; |
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bool supportsManualControl(void) final; |
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private: |
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static bool _remapParamNameIntialized; |
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static FirmwarePlugin::remapParamNameMajorVersionMap_t _remapParamName; |
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}; |
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#endif
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