18825909402

Committed 27 Oct 2025 12:18AM UTC coverage: 48.263% (+0.02%) from 48.247%

Build # 18825909402

Build Type

push

github

Committed by

web-flow

Commit Message

Merge pull request #2676 from Luc-Meunier/arduplane-flight-modes

Add some Arduplane flight modes and VTOL support

Run Details

0 of 10 new or added lines in 3 files covered. (0.0%)

7 existing lines in 5 files now uncovered.

17437 of 36129 relevant lines covered (48.26%)

474.88 hits per line

Source File
Press 'n' to go to next uncovered line, 'b' for previous

7.56

/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:
            case MAV_TYPE::MAV_TYPE_VTOL_FIXEDROTOR:
            case MAV_TYPE::MAV_TYPE_VTOL_TAILSITTER:
            case MAV_TYPE::MAV_TYPE_VTOL_TAILSITTER_DUOROTOR:
            case MAV_TYPE::MAV_TYPE_VTOL_TAILSITTER_QUADROTOR:
            case MAV_TYPE::MAV_TYPE_VTOL_TILTROTOR:
            case MAV_TYPE::MAV_TYPE_VTOL_TILTWING:
                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::Fbwb:
            return FlightMode::FBWB;
        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::Takeoff:
            return FlightMode::Takeoff;
        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)	5✔
13	{
14	if (autopilot == Autopilot::ArduPilot) {	5✔
15	switch (mav_type) {	5✔
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	case MAV_TYPE::MAV_TYPE_VTOL_FIXEDROTOR:
21	case MAV_TYPE::MAV_TYPE_VTOL_TAILSITTER:
22	case MAV_TYPE::MAV_TYPE_VTOL_TAILSITTER_DUOROTOR:
23	case MAV_TYPE::MAV_TYPE_VTOL_TAILSITTER_QUADROTOR:
24	case MAV_TYPE::MAV_TYPE_VTOL_TILTROTOR:
25	case MAV_TYPE::MAV_TYPE_VTOL_TILTWING:
UNCOV 26	return to_flight_mode_from_ardupilot_plane_mode(custom_mode);	×
27	default:	5✔
28	return to_flight_mode_from_ardupilot_copter_mode(custom_mode);	5✔
29	}
30	} else {
31	return to_flight_mode_from_px4_mode(custom_mode);	×
32	}
33	}
34
35	FlightMode to_flight_mode_from_ardupilot_rover_mode(uint32_t custom_mode)	×
36	{
37	switch (static_cast<ardupilot::RoverMode>(custom_mode)) {	×
38	case ardupilot::RoverMode::Auto:	×
39	return FlightMode::Mission;	×
40	case ardupilot::RoverMode::Acro:	×
41	return FlightMode::Acro;	×
42	case ardupilot::RoverMode::Hold:	×
43	return FlightMode::Hold;	×
44	case ardupilot::RoverMode::RTL:	×
45	return FlightMode::ReturnToLaunch;	×
46	case ardupilot::RoverMode::Manual:	×
47	return FlightMode::Manual;	×
48	case ardupilot::RoverMode::Follow:	×
49	return FlightMode::FollowMe;	×
50	case ardupilot::RoverMode::Guided:	×
51	return FlightMode::Offboard;	×
52	default:	×
53	return FlightMode::Unknown;	×
54	}
55	}
56	FlightMode to_flight_mode_from_ardupilot_copter_mode(uint32_t custom_mode)	5✔
57	{
58	switch (static_cast<ardupilot::CopterMode>(custom_mode)) {	5✔
59	case ardupilot::CopterMode::Auto:	×
60	return FlightMode::Mission;	×
61	case ardupilot::CopterMode::Acro:	×
62	return FlightMode::Acro;	×
63	case ardupilot::CopterMode::AltHold:	×
64	return FlightMode::Altctl;	×
65	case ardupilot::CopterMode::PosHold:	×
66	return FlightMode::Posctl;	×
67	case ardupilot::CopterMode::FlowHold:	×
68	case ardupilot::CopterMode::Loiter:
69	return FlightMode::Hold;	×
70	case ardupilot::CopterMode::Rtl:	×
71	case ardupilot::CopterMode::AutoRtl:
72	return FlightMode::ReturnToLaunch;	×
73	case ardupilot::CopterMode::Land:	×
74	return FlightMode::Land;	×
75	case ardupilot::CopterMode::Follow:	×
76	return FlightMode::FollowMe;	×
77	case ardupilot::CopterMode::Guided:	×
78	return FlightMode::Offboard;	×
79	case ardupilot::CopterMode::Stabilize:	5✔
80	return FlightMode::Stabilized;	5✔
81	case ardupilot::CopterMode::Unknown:	×
82	return FlightMode::Unknown;	×
83	default:	×
84	return FlightMode::Unknown;	×
85	}
86	}
87	FlightMode to_flight_mode_from_ardupilot_plane_mode(uint32_t custom_mode)	×
88	{
89	switch (static_cast<ardupilot::PlaneMode>(custom_mode)) {	×
90	case ardupilot::PlaneMode::Manual:	×
91	return FlightMode::Manual;	×
92	case ardupilot::PlaneMode::Auto:	×
93	return FlightMode::Mission;	×
94	case ardupilot::PlaneMode::Acro:	×
95	return FlightMode::Acro;	×
96	case ardupilot::PlaneMode::Autotune:	×
97	return FlightMode::Altctl;	×
98	case ardupilot::PlaneMode::Fbwa:	×
99	return FlightMode::FBWA;	×
NEW 100	case ardupilot::PlaneMode::Fbwb:	×
NEW 101	return FlightMode::FBWB;	×
102	case ardupilot::PlaneMode::Guided:	×
103	return FlightMode::Guided;	×
104	case ardupilot::PlaneMode::Loiter:	×
105	return FlightMode::Hold;	×
106	case ardupilot::PlaneMode::Rtl:	×
107	return FlightMode::ReturnToLaunch;	×
108	case ardupilot::PlaneMode::Stabilize:	×
109	return FlightMode::Stabilized;	×
NEW 110	case ardupilot::PlaneMode::Takeoff:	×
NEW 111	return FlightMode::Takeoff;	×
112	case ardupilot::PlaneMode::Unknown:	×
113	return FlightMode::Unknown;	×
114	default:	×
115	return FlightMode::Unknown;	×
116	}
117	}
118
119	FlightMode to_flight_mode_from_px4_mode(uint32_t custom_mode)	×
120	{
121	px4::px4_custom_mode px4_custom_mode;
122	px4_custom_mode.data = custom_mode;	×
123
124	switch (px4_custom_mode.main_mode) {	×
125	case px4::PX4_CUSTOM_MAIN_MODE_OFFBOARD:	×
126	return FlightMode::Offboard;	×
127	case px4::PX4_CUSTOM_MAIN_MODE_MANUAL:	×
128	return FlightMode::Manual;	×
129	case px4::PX4_CUSTOM_MAIN_MODE_POSCTL:	×
130	return FlightMode::Posctl;	×
131	case px4::PX4_CUSTOM_MAIN_MODE_ALTCTL:	×
132	return FlightMode::Altctl;	×
133	case px4::PX4_CUSTOM_MAIN_MODE_RATTITUDE:	×
134	return FlightMode::Rattitude;	×
135	case px4::PX4_CUSTOM_MAIN_MODE_ACRO:	×
136	return FlightMode::Acro;	×
137	case px4::PX4_CUSTOM_MAIN_MODE_STABILIZED:	×
138	return FlightMode::Stabilized;	×
139	case px4::PX4_CUSTOM_MAIN_MODE_AUTO:	×
140	switch (px4_custom_mode.sub_mode) {	×
141	case px4::PX4_CUSTOM_SUB_MODE_AUTO_READY:	×
142	return FlightMode::Ready;	×
143	case px4::PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF:	×
144	return FlightMode::Takeoff;	×
145	case px4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER:	×
146	return FlightMode::Hold;	×
147	case px4::PX4_CUSTOM_SUB_MODE_AUTO_MISSION:	×
148	return FlightMode::Mission;	×
149	case px4::PX4_CUSTOM_SUB_MODE_AUTO_RTL:	×
150	return FlightMode::ReturnToLaunch;	×
151	case px4::PX4_CUSTOM_SUB_MODE_AUTO_LAND:	×
152	return FlightMode::Land;	×
153	case px4::PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:	×
154	return FlightMode::FollowMe;	×
155	default:	×
156	return FlightMode::Unknown;	×
157	}
158	default:	×
159	return FlightMode::Unknown;	×
160	}
161	}
162
163	} // namespace mavsdk

mavlink / MAVSDK / 18825909402

Source File Press 'n' to go to next uncovered line, 'b' for previous

Source File
Press 'n' to go to next uncovered line, 'b' for previous