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93 lines
3.1 KiB
93 lines
3.1 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2020 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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#include "ArduRoverFirmwarePlugin.h" |
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#include "QGCApplication.h" |
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bool ArduRoverFirmwarePlugin::_remapParamNameIntialized = false; |
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FirmwarePlugin::remapParamNameMajorVersionMap_t ArduRoverFirmwarePlugin::_remapParamName; |
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APMRoverMode::APMRoverMode(uint32_t mode, bool settable) |
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: APMCustomMode(mode, settable) |
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{ |
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setEnumToStringMapping({ |
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{MANUAL, "Manual"}, |
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{ACRO, "Acro"}, |
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{STEERING, "Steering"}, |
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{HOLD, "Hold"}, |
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{LOITER, "Loiter"}, |
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#if 0 |
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// Follow me not ready for Stable |
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{FOLLOW, "Follow"}, |
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#endif |
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{SIMPLE, "Simple"}, |
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{AUTO, "Auto"}, |
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{RTL, "RTL"}, |
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{SMART_RTL, "Smart RTL"}, |
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{GUIDED, "Guided"}, |
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{INITIALIZING, "Initializing"}, |
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}); |
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} |
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ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(void) |
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{ |
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setSupportedModes({ |
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APMRoverMode(APMRoverMode::MANUAL ,true), |
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APMRoverMode(APMRoverMode::ACRO ,true), |
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APMRoverMode(APMRoverMode::STEERING ,true), |
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APMRoverMode(APMRoverMode::HOLD ,true), |
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APMRoverMode(APMRoverMode::LOITER ,true), |
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#if 0 |
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// Follow me not ready for Stable |
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APMRoverMode(APMRoverMode::FOLLOW ,true), |
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#endif |
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APMRoverMode(APMRoverMode::SIMPLE ,true), |
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APMRoverMode(APMRoverMode::AUTO ,true), |
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APMRoverMode(APMRoverMode::RTL ,true), |
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APMRoverMode(APMRoverMode::SMART_RTL ,true), |
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APMRoverMode(APMRoverMode::GUIDED ,true), |
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APMRoverMode(APMRoverMode::INITIALIZING ,false), |
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}); |
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if (!_remapParamNameIntialized) { |
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FirmwarePlugin::remapParamNameMap_t& remapV3_5 = _remapParamName[3][5]; |
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remapV3_5["BATT_ARM_VOLT"] = QStringLiteral("ARMING_VOLT_MIN"); |
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remapV3_5["BATT2_ARM_VOLT"] = QStringLiteral("ARMING_VOLT2_MIN"); |
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_remapParamNameIntialized = true; |
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} |
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} |
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int ArduRoverFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const |
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{ |
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// Remapping supports up to 3.5 |
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return majorVersionNumber == 3 ? 5 : Vehicle::versionNotSetValue; |
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} |
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void ArduRoverFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange) |
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{ |
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Q_UNUSED(vehicle); |
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Q_UNUSED(altitudeChange); |
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qgcApp()->showAppMessage(QStringLiteral("Change altitude not supported.")); |
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} |
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bool ArduRoverFirmwarePlugin::supportsNegativeThrust(Vehicle* /*vehicle*/) |
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{ |
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return true; |
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} |
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#if 0 |
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// Follow me not ready for Stable |
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void ArduRoverFirmwarePlugin::sendGCSMotionReport(Vehicle* vehicle, FollowMe::GCSMotionReport& motionReport, uint8_t estimatationCapabilities) |
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{ |
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_sendGCSMotionReport(vehicle, motionReport, estimatationCapabilities); |
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} |
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#endif
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