Merge pull request #3574 from dagar/px4_modes

PX4 mode cleanup

qgroundcontrol.pro

@@ -664,6 +664,7 @@ HEADERS+= \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
+    src/FirmwarePlugin/PX4/px4_custom_mode.h \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
     src/FirmwarePlugin/PX4/PX4ParameterMetaData.h \
     src/Vehicle/MultiVehicleManager.h \

src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml

@@ -63,7 +63,7 @@ Item {
     readonly property string fwAcroModeDescription:     qsTr("The angular rates are controlled, but not the attitude. ")
     readonly property string mrAcroModeDescription:     qsTr("The angular rates are controlled, but not the attitude. ")
 
-    readonly property string altCtlModeName:            qsTr("Altitude Control")
+    readonly property string altCtlModeName:            qsTr("Altitude")
     readonly property string fwAltCtlModeDescription:   qsTr("Roll stick controls banking, pitch stick altitude ") +
                                                         qsTr("Throttle stick controls speed. ") +
                                                         qsTr("With no stick inputs the plane holds heading, but drifts off in wind. ")
@@ -76,10 +76,10 @@ Item {
     readonly property string mrPosCtlModeDescription:   qsTr("Roll and Pitch sticks control sideways and forward speed ") +
                                                         qsTr("Throttle stick controls climb / sink rade. ")
 
-    readonly property string missionModeName:           qsTr("Auto Mission")
+    readonly property string missionModeName:           qsTr("Mission")
     readonly property string missionModeDescription:    qsTr("The aircraft obeys the programmed mission sent by QGroundControl. ")
 
-    readonly property string loiterModeName:            qsTr("Auto Pause")
+    readonly property string loiterModeName:            qsTr("Hold")
     readonly property string fwLoiterModeDescription:   qsTr("The aircraft flies in a circle around the current position at the current altitude. ")
     readonly property string mrLoiterModeDescription:   qsTr("The multirotor hovers at the current position and altitude. ")
 

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -18,37 +18,7 @@
 
 #include <QDebug>
 
-enum PX4_CUSTOM_MAIN_MODE {
-    PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
-    PX4_CUSTOM_MAIN_MODE_ALTCTL,
-    PX4_CUSTOM_MAIN_MODE_POSCTL,
-    PX4_CUSTOM_MAIN_MODE_AUTO,
-    PX4_CUSTOM_MAIN_MODE_ACRO,
-    PX4_CUSTOM_MAIN_MODE_OFFBOARD,
-    PX4_CUSTOM_MAIN_MODE_STABILIZED,
-    PX4_CUSTOM_MAIN_MODE_RATTITUDE
-};
-
-enum PX4_CUSTOM_SUB_MODE_AUTO {
-    PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
-    PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
-    PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
-    PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
-    PX4_CUSTOM_SUB_MODE_AUTO_RTL,
-    PX4_CUSTOM_SUB_MODE_AUTO_LAND,
-    PX4_CUSTOM_SUB_MODE_AUTO_RTGS,
-    PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_ME
-};
-
-union px4_custom_mode {
-    struct {
-        uint16_t reserved;
-        uint8_t main_mode;
-        uint8_t sub_mode;
-    };
-    uint32_t data;
-    float data_float;
-};
+#include "px4_custom_mode.h"
 
 struct Modes2Name {
     uint8_t     main_mode;
@@ -60,39 +30,43 @@ struct Modes2Name {
 };
 
 const char* PX4FirmwarePlugin::manualFlightMode =       "Manual";
+const char* PX4FirmwarePlugin::altCtlFlightMode =       "Altitude";
+const char* PX4FirmwarePlugin::posCtlFlightMode =       "Position";
+const char* PX4FirmwarePlugin::missionFlightMode =      "Mission";
+const char* PX4FirmwarePlugin::holdFlightMode =         "Hold";
+const char* PX4FirmwarePlugin::takeoffFlightMode =      "Takeoff";
+const char* PX4FirmwarePlugin::landingFlightMode =      "Land";
+const char* PX4FirmwarePlugin::rtlFlightMode =          "Return";
 const char* PX4FirmwarePlugin::acroFlightMode =         "Acro";
+const char* PX4FirmwarePlugin::offboardFlightMode =     "Offboard";
 const char* PX4FirmwarePlugin::stabilizedFlightMode =   "Stabilized";
 const char* PX4FirmwarePlugin::rattitudeFlightMode =    "Rattitude";
-const char* PX4FirmwarePlugin::altCtlFlightMode =       "Altitude Control";
-const char* PX4FirmwarePlugin::posCtlFlightMode =       "Position Control";
-const char* PX4FirmwarePlugin::offboardFlightMode =     "Offboard Control";
-const char* PX4FirmwarePlugin::readyFlightMode =        "Ready";
-const char* PX4FirmwarePlugin::takeoffFlightMode =      "Takeoff";
-const char* PX4FirmwarePlugin::pauseFlightMode =        "Hold";
-const char* PX4FirmwarePlugin::missionFlightMode =      "Mission";
-const char* PX4FirmwarePlugin::rtlFlightMode =          "Return To Land";
-const char* PX4FirmwarePlugin::landingFlightMode =      "Landing";
-const char* PX4FirmwarePlugin::rtgsFlightMode =         "Return, Link Loss";
 const char* PX4FirmwarePlugin::followMeFlightMode =     "Follow Me";
 
+const char* PX4FirmwarePlugin::rtgsFlightMode =         "Return to Groundstation";
+
+const char* PX4FirmwarePlugin::readyFlightMode =        "Ready"; // unused
+
 /// Tranlates from PX4 custom modes to flight mode names
 
 static const struct Modes2Name rgModes2Name[] = {
-    { PX4_CUSTOM_MAIN_MODE_MANUAL,      0,                                  PX4FirmwarePlugin::manualFlightMode,        true,   true,   true},
-    { PX4_CUSTOM_MAIN_MODE_ACRO,        0,                                  PX4FirmwarePlugin::acroFlightMode,          true,   false,  true},
-    { PX4_CUSTOM_MAIN_MODE_STABILIZED,  0,                                  PX4FirmwarePlugin::stabilizedFlightMode,    true,   true,   true},
-    { PX4_CUSTOM_MAIN_MODE_RATTITUDE,   0,                                  PX4FirmwarePlugin::rattitudeFlightMode,     true,   false,  true},
-    { PX4_CUSTOM_MAIN_MODE_ALTCTL,      0,                                  PX4FirmwarePlugin::altCtlFlightMode,        true,   true,   true},
-    { PX4_CUSTOM_MAIN_MODE_POSCTL,      0,                                  PX4FirmwarePlugin::posCtlFlightMode,        true,   true,   true},
-    { PX4_CUSTOM_MAIN_MODE_OFFBOARD,    0,                                  PX4FirmwarePlugin::offboardFlightMode,      true,   true,   true},
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_READY,     PX4FirmwarePlugin::readyFlightMode,         false,  true,   true},
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,   PX4FirmwarePlugin::takeoffFlightMode,       false,  true,   true},
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LOITER,    PX4FirmwarePlugin::pauseFlightMode,         true,   true,   true},
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_MISSION,   PX4FirmwarePlugin::missionFlightMode,       true,   true,   true},
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTL,       PX4FirmwarePlugin::rtlFlightMode,           true,   true,   true},
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LAND,      PX4FirmwarePlugin::landingFlightMode,       false,  true,   true},
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTGS,      PX4FirmwarePlugin::rtgsFlightMode,          false,  true,   true},
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_ME, PX4FirmwarePlugin::followMeFlightMode,      true,   true,   true},
+    //main_mode                         sub_mode                                name                                      canBeSet  FW      MC
+    { PX4_CUSTOM_MAIN_MODE_MANUAL,      0,                                      PX4FirmwarePlugin::manualFlightMode,        true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_STABILIZED,  0,                                      PX4FirmwarePlugin::stabilizedFlightMode,    true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_ACRO,        0,                                      PX4FirmwarePlugin::acroFlightMode,          true,   false,  true },
+    { PX4_CUSTOM_MAIN_MODE_RATTITUDE,   0,                                      PX4FirmwarePlugin::rattitudeFlightMode,     true,   false,  true },
+    { PX4_CUSTOM_MAIN_MODE_ALTCTL,      0,                                      PX4FirmwarePlugin::altCtlFlightMode,        true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_POSCTL,      0,                                      PX4FirmwarePlugin::posCtlFlightMode,        true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LOITER,        PX4FirmwarePlugin::holdFlightMode,          true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_MISSION,       PX4FirmwarePlugin::missionFlightMode,       true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTL,           PX4FirmwarePlugin::rtlFlightMode,           true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, PX4FirmwarePlugin::followMeFlightMode,      true,   true,   true },
+    { PX4_CUSTOM_MAIN_MODE_OFFBOARD,    0,                                      PX4FirmwarePlugin::offboardFlightMode,      true,   true,   true },
+    // modes that can't be directly set by the user
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LAND,          PX4FirmwarePlugin::landingFlightMode,       false,  true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_READY,         PX4FirmwarePlugin::readyFlightMode,         false,  true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTGS,          PX4FirmwarePlugin::rtgsFlightMode,          false,  true,   true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,       PX4FirmwarePlugin::takeoffFlightMode,       false,  true,   true },
 };
 
 QList<VehicleComponent*> PX4FirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
@@ -379,7 +353,7 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
 void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
 {
     if (guidedMode) {
-        vehicle->setFlightMode(pauseFlightMode);
+        vehicle->setFlightMode(holdFlightMode);
     } else {
         pauseVehicle(vehicle);
     }
@@ -388,6 +362,6 @@ void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
 bool PX4FirmwarePlugin::isGuidedMode(const Vehicle* vehicle) const
 {
     // Not supported by generic vehicle
-    return (vehicle->flightMode() == pauseFlightMode || vehicle->flightMode() == takeoffFlightMode
+    return (vehicle->flightMode() == holdFlightMode || vehicle->flightMode() == takeoffFlightMode
             || vehicle->flightMode() == landingFlightMode);
 }

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -63,7 +63,7 @@ public:
     static const char* offboardFlightMode;
     static const char* readyFlightMode;
     static const char* takeoffFlightMode;
-    static const char* pauseFlightMode;
+    static const char* holdFlightMode;
     static const char* missionFlightMode;
     static const char* rtlFlightMode;
     static const char* landingFlightMode;

src/FirmwarePlugin/PX4/px4_custom_mode.h

+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_custom_mode.h
+ * PX4 custom flight modes
+ *
+ */
+
+#ifndef PX4_CUSTOM_MODE_H_
+#define PX4_CUSTOM_MODE_H_
+
+#include <stdint.h>
+
+enum PX4_CUSTOM_MAIN_MODE {
+	PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
+	PX4_CUSTOM_MAIN_MODE_ALTCTL,
+	PX4_CUSTOM_MAIN_MODE_POSCTL,
+	PX4_CUSTOM_MAIN_MODE_AUTO,
+	PX4_CUSTOM_MAIN_MODE_ACRO,
+	PX4_CUSTOM_MAIN_MODE_OFFBOARD,
+	PX4_CUSTOM_MAIN_MODE_STABILIZED,
+	PX4_CUSTOM_MAIN_MODE_RATTITUDE
+};
+
+enum PX4_CUSTOM_SUB_MODE_AUTO {
+	PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
+	PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
+	PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
+	PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
+	PX4_CUSTOM_SUB_MODE_AUTO_RTL,
+	PX4_CUSTOM_SUB_MODE_AUTO_LAND,
+	PX4_CUSTOM_SUB_MODE_AUTO_RTGS,
+	PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET
+};
+
+union px4_custom_mode {
+	struct {
+		uint16_t reserved;
+		uint8_t main_mode;
+		uint8_t sub_mode;
+	};
+	uint32_t data;
+	float data_float;
+};
+
+#endif /* PX4_CUSTOM_MODE_H_ */

src/comm/MockLink.cc

@@ -18,6 +18,8 @@
 
 #include <string.h>
 
+#include "px4_custom_mode.h"
+
 QGC_LOGGING_CATEGORY(MockLinkLog, "MockLinkLog")
 QGC_LOGGING_CATEGORY(MockLinkVerboseLog, "MockLinkVerboseLog")
 
@@ -26,37 +28,6 @@ QGC_LOGGING_CATEGORY(MockLinkVerboseLog, "MockLinkVerboseLog")
 ///
 ///     @author Don Gagne <don@thegagnes.com>
 
-enum PX4_CUSTOM_MAIN_MODE {
-    PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
-            PX4_CUSTOM_MAIN_MODE_ALTCTL,
-            PX4_CUSTOM_MAIN_MODE_POSCTL,
-            PX4_CUSTOM_MAIN_MODE_AUTO,
-            PX4_CUSTOM_MAIN_MODE_ACRO,
-            PX4_CUSTOM_MAIN_MODE_OFFBOARD,
-            PX4_CUSTOM_MAIN_MODE_STABILIZED,
-            PX4_CUSTOM_MAIN_MODE_RATTITUDE
-};
-
-enum PX4_CUSTOM_SUB_MODE_AUTO {
-    PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
-    PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
-    PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
-    PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
-    PX4_CUSTOM_SUB_MODE_AUTO_RTL,
-    PX4_CUSTOM_SUB_MODE_AUTO_LAND,
-    PX4_CUSTOM_SUB_MODE_AUTO_RTGS
-};
-
-union px4_custom_mode {
-    struct {
-        uint16_t reserved;
-        uint8_t main_mode;
-        uint8_t sub_mode;
-    };
-    uint32_t data;
-    float data_float;
-};
-
 float   MockLink::_vehicleLatitude =        47.633033f;
 float   MockLink::_vehicleLongitude =       -122.08794f;
 float   MockLink::_vehicleAltitude =        3.5f;