7965506471

Committed 19 Feb 2024 09:51PM UTC coverage: 36.22% (+0.008%) from 36.212%

Build # 7965506471

Build Type

push

github

Committed by

web-flow

Commit Message

Merge pull request #2223 from mavlink/pr-absl-fix

Fix illegal instruction on RPi 4

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10035 of 27706 relevant lines covered (36.22%)

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0.0

/src/mavsdk/core/flight_mode.cpp


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

mavlink / MAVSDK / 7965506471

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