ArduPlaneFirmwarePlugin.cc 4.7 KB
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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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#include "ArduPlaneFirmwarePlugin.h"

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bool ArduPlaneFirmwarePlugin::_remapParamNameIntialized = false;
FirmwarePlugin::remapParamNameMajorVersionMap_t ArduPlaneFirmwarePlugin::_remapParamName;

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APMPlaneMode::APMPlaneMode(uint32_t mode, bool settable)
    : APMCustomMode(mode, settable)
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{
    QMap<uint32_t,QString> enumToString;
    enumToString.insert(MANUAL,         "Manual");
    enumToString.insert(CIRCLE,         "Circle");
    enumToString.insert(STABILIZE,      "Stabilize");
    enumToString.insert(TRAINING,       "Training");
    enumToString.insert(ACRO,           "Acro");
    enumToString.insert(FLY_BY_WIRE_A,  "FWB A");
    enumToString.insert(FLY_BY_WIRE_B,  "FWB B");
    enumToString.insert(CRUISE,         "Cruise");
    enumToString.insert(AUTOTUNE,       "Autotune");
    enumToString.insert(AUTO,           "Auto");
    enumToString.insert(RTL,            "RTL");
    enumToString.insert(LOITER,         "Loiter");
    enumToString.insert(GUIDED,         "Guided");
    enumToString.insert(INITIALIZING,   "Initializing");
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    enumToString.insert(QSTABILIZE,     "QuadPlane Stabilize");
    enumToString.insert(QHOVER,         "QuadPlane Hover");
    enumToString.insert(QLOITER,        "QuadPlane Loiter");
    enumToString.insert(QLAND,          "QuadPlane Land");
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    enumToString.insert(QRTL,           "QuadPlane RTL");
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    setEnumToStringMapping(enumToString);
}

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ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
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{
    QList<APMCustomMode> supportedFlightModes;
    supportedFlightModes << APMPlaneMode(APMPlaneMode::MANUAL          ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::CIRCLE          ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::STABILIZE       ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::TRAINING        ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::ACRO            ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::FLY_BY_WIRE_A   ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::FLY_BY_WIRE_B   ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::CRUISE          ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::AUTOTUNE        ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::AUTO            ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::RTL             ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::LOITER          ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::GUIDED          ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::INITIALIZING    ,false);
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    supportedFlightModes << APMPlaneMode(APMPlaneMode::QSTABILIZE      ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::QHOVER          ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::QLOITER         ,true);
    supportedFlightModes << APMPlaneMode(APMPlaneMode::QLAND           ,true);
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    supportedFlightModes << APMPlaneMode(APMPlaneMode::QRTL            ,true);
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    setSupportedModes(supportedFlightModes);
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    if (!_remapParamNameIntialized) {
        FirmwarePlugin::remapParamNameMap_t& remapV3_8 = _remapParamName[3][8];

        remapV3_8["SERVO5_FUNCTION"] = QStringLiteral("RC5_FUNCTION");
        remapV3_8["SERVO6_FUNCTION"] = QStringLiteral("RC6_FUNCTION");
        remapV3_8["SERVO7_FUNCTION"] = QStringLiteral("RC7_FUNCTION");
        remapV3_8["SERVO8_FUNCTION"] = QStringLiteral("RC8_FUNCTION");
        remapV3_8["SERVO9_FUNCTION"] = QStringLiteral("RC9_FUNCTION");
        remapV3_8["SERVO10_FUNCTION"] = QStringLiteral("RC10_FUNCTION");
        remapV3_8["SERVO11_FUNCTION"] = QStringLiteral("RC11_FUNCTION");
        remapV3_8["SERVO12_FUNCTION"] = QStringLiteral("RC12_FUNCTION");
        remapV3_8["SERVO13_FUNCTION"] = QStringLiteral("RC13_FUNCTION");
        remapV3_8["SERVO14_FUNCTION"] = QStringLiteral("RC14_FUNCTION");

        _remapParamNameIntialized = true;
    }
}

int ArduPlaneFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
{
    // Remapping supports up to 3.8
    return majorVersionNumber == 3 ? 8 : Vehicle::versionNotSetValue;
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}
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bool ArduPlaneFirmwarePlugin::isCapable(const Vehicle* vehicle, FirmwareCapabilities capabilities)
{
    Q_UNUSED(vehicle);

    uint32_t vehicleCapabilities = SetFlightModeCapability | GuidedModeCapability | PauseVehicleCapability;

    return (capabilities & vehicleCapabilities) == capabilities;
}