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63 lines
2.3 KiB
63 lines
2.3 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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ACRO = 1, |
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STEERING = 3, |
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HOLD = 4, |
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LOITER = 5, |
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FOLLOW = 6, |
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SIMPLE = 7, |
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AUTO = 10, |
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RTL = 11, |
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SMART_RTL = 12, |
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GUIDED = 15, |
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INITIALIZING = 16, |
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}; |
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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 QStringLiteral("Hold"); } |
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QString followFlightMode (void) const override { return QStringLiteral("Follow"); } |
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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 (Vehicle *) final; |
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bool supportsSmartRTL (void) const override { return true; } |
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QString offlineEditingParamFile (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Rover.OfflineEditing.params"); } |
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void sendGCSMotionReport (Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities) override; |
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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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