4309225683

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Merge pull request #1995 from dvinc/offboard-ardupilot-rover

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/src/mavsdk/core/flight_mode.cpp


#include "flight_mode.h"
#include "mavlink_include.h"
#include "ardupilot_custom_mode.h"
#include "px4_custom_mode.h"
#include "mavlink_command_sender.h"

namespace mavsdk {

FlightMode to_flight_mode_from_custom_mode(
    Sender::Autopilot autopilot, MAV_TYPE mav_type, uint32_t custom_mode)
{
    if (autopilot == Sender::Autopilot::ArduPilot) {
        switch (mav_type) {
            case MAV_TYPE::MAV_TYPE_SURFACE_BOAT:
            case MAV_TYPE::MAV_TYPE_GROUND_ROVER:
                return to_flight_mode_from_ardupilot_rover_mode(custom_mode);
            case MAV_TYPE::MAV_TYPE_FIXED_WING:
                return to_flight_mode_from_ardupilot_plane_mode(custom_mode);
            default:
                return to_flight_mode_from_ardupilot_copter_mode(custom_mode);
        }
    } else {
        return to_flight_mode_from_px4_mode(custom_mode);
    }
}

FlightMode to_flight_mode_from_ardupilot_rover_mode(uint32_t custom_mode)
{
    switch (static_cast<ardupilot::RoverMode>(custom_mode)) {
        case ardupilot::RoverMode::Auto:
            return FlightMode::Mission;
        case ardupilot::RoverMode::Acro:
            return FlightMode::Acro;
        case ardupilot::RoverMode::Hold:
            return FlightMode::Hold;
        case ardupilot::RoverMode::RTL:
            return FlightMode::ReturnToLaunch;
        case ardupilot::RoverMode::Manual:
            return FlightMode::Manual;
        case ardupilot::RoverMode::Follow:
            return FlightMode::FollowMe;
        case ardupilot::RoverMode::Guided:
            return FlightMode::Offboard;
        default:
            return FlightMode::Unknown;
    }
}
FlightMode to_flight_mode_from_ardupilot_copter_mode(uint32_t custom_mode)
{
    switch (static_cast<ardupilot::CopterMode>(custom_mode)) {
        case ardupilot::CopterMode::Auto:
            return FlightMode::Mission;
        case ardupilot::CopterMode::Acro:
            return FlightMode::Acro;
        case ardupilot::CopterMode::AltHold:
            return FlightMode::Altctl;
        case ardupilot::CopterMode::PosHold:
            return FlightMode::Posctl;
        case ardupilot::CopterMode::FlowHold:
        case ardupilot::CopterMode::Loiter:
            return FlightMode::Hold;
        case ardupilot::CopterMode::Rtl:
        case ardupilot::CopterMode::AutoRtl:
            return FlightMode::ReturnToLaunch;
        case ardupilot::CopterMode::Land:
            return FlightMode::Land;
        case ardupilot::CopterMode::Follow:
            return FlightMode::FollowMe;
        case ardupilot::CopterMode::Guided:
            return FlightMode::Offboard;
        case ardupilot::CopterMode::Stabilize:
            return FlightMode::Stabilized;
        case ardupilot::CopterMode::Unknown:
            return FlightMode::Unknown;
        default:
            return FlightMode::Unknown;
    }
}
FlightMode to_flight_mode_from_ardupilot_plane_mode(uint32_t custom_mode)
{
    switch (static_cast<ardupilot::PlaneMode>(custom_mode)) {
        case ardupilot::PlaneMode::Manual:
            return FlightMode::Manual;
        case ardupilot::PlaneMode::Auto:
            return FlightMode::Mission;
        case ardupilot::PlaneMode::Acro:
            return FlightMode::Acro;
        case ardupilot::PlaneMode::Autotune:
            return FlightMode::Altctl;
        case ardupilot::PlaneMode::Fbwa:
            return FlightMode::FBWA;
        case ardupilot::PlaneMode::Guided:
            return FlightMode::Guided;
        case ardupilot::PlaneMode::Loiter:
            return FlightMode::Hold;
        case ardupilot::PlaneMode::Rtl:
            return FlightMode::ReturnToLaunch;
        case ardupilot::PlaneMode::Stabilize:
            return FlightMode::Stabilized;
        case ardupilot::PlaneMode::Unknown:
            return FlightMode::Unknown;
        default:
            return FlightMode::Unknown;
    }
}

FlightMode to_flight_mode_from_px4_mode(uint32_t custom_mode)
{
    px4::px4_custom_mode px4_custom_mode;
    px4_custom_mode.data = custom_mode;

    switch (px4_custom_mode.main_mode) {
        case px4::PX4_CUSTOM_MAIN_MODE_OFFBOARD:
            return FlightMode::Offboard;
        case px4::PX4_CUSTOM_MAIN_MODE_MANUAL:
            return FlightMode::Manual;
        case px4::PX4_CUSTOM_MAIN_MODE_POSCTL:
            return FlightMode::Posctl;
        case px4::PX4_CUSTOM_MAIN_MODE_ALTCTL:
            return FlightMode::Altctl;
        case px4::PX4_CUSTOM_MAIN_MODE_RATTITUDE:
            return FlightMode::Rattitude;
        case px4::PX4_CUSTOM_MAIN_MODE_ACRO:
            return FlightMode::Acro;
        case px4::PX4_CUSTOM_MAIN_MODE_STABILIZED:
            return FlightMode::Stabilized;
        case px4::PX4_CUSTOM_MAIN_MODE_AUTO:
            switch (px4_custom_mode.sub_mode) {
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_READY:
                    return FlightMode::Ready;
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF:
                    return FlightMode::Takeoff;
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
                    return FlightMode::Hold;
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_MISSION:
                    return FlightMode::Mission;
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_RTL:
                    return FlightMode::ReturnToLaunch;
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_LAND:
                    return FlightMode::Land;
                case px4::PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:
                    return FlightMode::FollowMe;
                default:
                    return FlightMode::Unknown;
            }
        default:
            return FlightMode::Unknown;
    }
}

} // namespace mavsdk

1
2	#include "flight_mode.h"
3	#include "mavlink_include.h"
4	#include "ardupilot_custom_mode.h"
5	#include "px4_custom_mode.h"
6	#include "mavlink_command_sender.h"
7
8	namespace mavsdk {
9
10	FlightMode to_flight_mode_from_custom_mode(	×
11	Sender::Autopilot autopilot, MAV_TYPE mav_type, uint32_t custom_mode)
12	{
13	if (autopilot == Sender::Autopilot::ArduPilot) {	×
14	switch (mav_type) {	×
15	case MAV_TYPE::MAV_TYPE_SURFACE_BOAT:	×
16	case MAV_TYPE::MAV_TYPE_GROUND_ROVER:
17	return to_flight_mode_from_ardupilot_rover_mode(custom_mode);	×
18	case MAV_TYPE::MAV_TYPE_FIXED_WING:	×
19	return to_flight_mode_from_ardupilot_plane_mode(custom_mode);	×
20	default:	×
21	return to_flight_mode_from_ardupilot_copter_mode(custom_mode);	×
22	}
23	} else {
24	return to_flight_mode_from_px4_mode(custom_mode);	×
25	}
26	}
27
28	FlightMode to_flight_mode_from_ardupilot_rover_mode(uint32_t custom_mode)	×
29	{
30	switch (static_cast<ardupilot::RoverMode>(custom_mode)) {	×
31	case ardupilot::RoverMode::Auto:	×
32	return FlightMode::Mission;	×
33	case ardupilot::RoverMode::Acro:	×
34	return FlightMode::Acro;	×
35	case ardupilot::RoverMode::Hold:	×
36	return FlightMode::Hold;	×
37	case ardupilot::RoverMode::RTL:	×
38	return FlightMode::ReturnToLaunch;	×
39	case ardupilot::RoverMode::Manual:	×
40	return FlightMode::Manual;	×
41	case ardupilot::RoverMode::Follow:	×
42	return FlightMode::FollowMe;	×
43	case ardupilot::RoverMode::Guided:	×
44	return FlightMode::Offboard;	×
45	default:	×
46	return FlightMode::Unknown;	×
47	}
48	}
49	FlightMode to_flight_mode_from_ardupilot_copter_mode(uint32_t custom_mode)	×
50	{
51	switch (static_cast<ardupilot::CopterMode>(custom_mode)) {	×
52	case ardupilot::CopterMode::Auto:	×
53	return FlightMode::Mission;	×
54	case ardupilot::CopterMode::Acro:	×
55	return FlightMode::Acro;	×
56	case ardupilot::CopterMode::AltHold:	×
57	return FlightMode::Altctl;	×
58	case ardupilot::CopterMode::PosHold:	×
59	return FlightMode::Posctl;	×
60	case ardupilot::CopterMode::FlowHold:	×
61	case ardupilot::CopterMode::Loiter:
62	return FlightMode::Hold;	×
63	case ardupilot::CopterMode::Rtl:	×
64	case ardupilot::CopterMode::AutoRtl:
65	return FlightMode::ReturnToLaunch;	×
66	case ardupilot::CopterMode::Land:	×
67	return FlightMode::Land;	×
68	case ardupilot::CopterMode::Follow:	×
69	return FlightMode::FollowMe;	×
70	case ardupilot::CopterMode::Guided:	×
71	return FlightMode::Offboard;	×
72	case ardupilot::CopterMode::Stabilize:	×
73	return FlightMode::Stabilized;	×
74	case ardupilot::CopterMode::Unknown:	×
75	return FlightMode::Unknown;	×
76	default:	×
77	return FlightMode::Unknown;	×
78	}
79	}
80	FlightMode to_flight_mode_from_ardupilot_plane_mode(uint32_t custom_mode)	×
81	{
82	switch (static_cast<ardupilot::PlaneMode>(custom_mode)) {	×
83	case ardupilot::PlaneMode::Manual:	×
84	return FlightMode::Manual;	×
85	case ardupilot::PlaneMode::Auto:	×
86	return FlightMode::Mission;	×
87	case ardupilot::PlaneMode::Acro:	×
88	return FlightMode::Acro;	×
89	case ardupilot::PlaneMode::Autotune:	×
90	return FlightMode::Altctl;	×
91	case ardupilot::PlaneMode::Fbwa:	×
92	return FlightMode::FBWA;	×
93	case ardupilot::PlaneMode::Guided:	×
94	return FlightMode::Guided;	×
95	case ardupilot::PlaneMode::Loiter:	×
96	return FlightMode::Hold;	×
97	case ardupilot::PlaneMode::Rtl:	×
98	return FlightMode::ReturnToLaunch;	×
99	case ardupilot::PlaneMode::Stabilize:	×
100	return FlightMode::Stabilized;	×
101	case ardupilot::PlaneMode::Unknown:	×
102	return FlightMode::Unknown;	×
103	default:	×
104	return FlightMode::Unknown;	×
105	}
106	}
107
108	FlightMode to_flight_mode_from_px4_mode(uint32_t custom_mode)	×
109	{
110	px4::px4_custom_mode px4_custom_mode;
111	px4_custom_mode.data = custom_mode;	×
112
113	switch (px4_custom_mode.main_mode) {	×
114	case px4::PX4_CUSTOM_MAIN_MODE_OFFBOARD:	×
115	return FlightMode::Offboard;	×
116	case px4::PX4_CUSTOM_MAIN_MODE_MANUAL:	×
117	return FlightMode::Manual;	×
118	case px4::PX4_CUSTOM_MAIN_MODE_POSCTL:	×
119	return FlightMode::Posctl;	×
120	case px4::PX4_CUSTOM_MAIN_MODE_ALTCTL:	×
121	return FlightMode::Altctl;	×
122	case px4::PX4_CUSTOM_MAIN_MODE_RATTITUDE:	×
123	return FlightMode::Rattitude;	×
124	case px4::PX4_CUSTOM_MAIN_MODE_ACRO:	×
125	return FlightMode::Acro;	×
126	case px4::PX4_CUSTOM_MAIN_MODE_STABILIZED:	×
127	return FlightMode::Stabilized;	×
128	case px4::PX4_CUSTOM_MAIN_MODE_AUTO:	×
129	switch (px4_custom_mode.sub_mode) {	×
130	case px4::PX4_CUSTOM_SUB_MODE_AUTO_READY:	×
131	return FlightMode::Ready;	×
132	case px4::PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF:	×
133	return FlightMode::Takeoff;	×
134	case px4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER:	×
135	return FlightMode::Hold;	×
136	case px4::PX4_CUSTOM_SUB_MODE_AUTO_MISSION:	×
137	return FlightMode::Mission;	×
138	case px4::PX4_CUSTOM_SUB_MODE_AUTO_RTL:	×
139	return FlightMode::ReturnToLaunch;	×
140	case px4::PX4_CUSTOM_SUB_MODE_AUTO_LAND:	×
141	return FlightMode::Land;	×
142	case px4::PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:	×
143	return FlightMode::FollowMe;	×
144	default:	×
145	return FlightMode::Unknown;	×
146	}
147	default:	×
148	return FlightMode::Unknown;	×
149	}
150	}
151
152	} // namespace mavsdk

mavlink / MAVSDK / 4309225683

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