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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
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/// @file
/// @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
#ifndef ArduRoverFirmwarePlugin_H
#define ArduRoverFirmwarePlugin_H
#include "APMFirmwarePlugin.h"
class APMRoverMode : public APMCustomMode
{
public:
enum Mode {
MANUAL = 0,
RESERVED_1 = 1, // RESERVED FOR FUTURE USE
LEARNING = 2,
STEERING = 3,
HOLD = 4,
RESERVED_5 = 5, // RESERVED FOR FUTURE USE
RESERVED_6 = 6, // RESERVED FOR FUTURE USE
RESERVED_7 = 7, // RESERVED FOR FUTURE USE
RESERVED_8 = 8, // RESERVED FOR FUTURE USE
RESERVED_9 = 9, // RESERVED FOR FUTURE USE
AUTO = 10,
RTL = 11,
RESERVED_12 = 12, // RESERVED FOR FUTURE USE
RESERVED_13 = 13, // RESERVED FOR FUTURE USE
RESERVED_14 = 14, // RESERVED FOR FUTURE USE
GUIDED = 15,
INITIALIZING = 16,
};
static const int modeCount = 17;
APMRoverMode(uint32_t mode, bool settable);
};
class ArduRoverFirmwarePlugin : public APMFirmwarePlugin
{
Q_OBJECT
public:
// Overrides from FirmwarePlugin
QString pauseFlightMode (void) const override { return QString("Hold"); }
void guidedModeChangeAltitude (Vehicle* vehicle, double altitudeChange) final;
int remapParamNameHigestMinorVersionNumber (int majorVersionNumber) const final;
const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }
bool supportsNegativeThrust(void) final;
private:
static bool _remapParamNameIntialized;
static FirmwarePlugin::remapParamNameMajorVersionMap_t _remapParamName;