Update flight mode naming

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc

@@ -68,26 +68,40 @@ struct Modes2Name {
     bool        canBeSet;   ///< true: Vehicle can be set to this flight mode
 };
 
+const char* PX4FirmwarePlugin::manualFlightMode =       "Manual";
+const char* PX4FirmwarePlugin::acroFlightMode =         "Acro";
+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 =        "Pause";
+const char* PX4FirmwarePlugin::missionFlightMode =      "Mission";
+const char* PX4FirmwarePlugin::rtlFlightMode =          "Return To Land";
+const char* PX4FirmwarePlugin::landingFlightMode =      "Landing";
+const char* PX4FirmwarePlugin::rtgsFlightMode =         "Return, Link Loss";
+
 /// Tranlates from PX4 custom modes to flight mode names
 
 static const struct Modes2Name rgModes2Name[] = {
-    { PX4_CUSTOM_MAIN_MODE_MANUAL,      0,                                  "Manual",           true },
-    { PX4_CUSTOM_MAIN_MODE_ACRO,        0,                                  "Acro",             true },
-    { PX4_CUSTOM_MAIN_MODE_STABILIZED,  0,                                  "Stabilized",       true },
-    { PX4_CUSTOM_MAIN_MODE_RATTITUDE,   0,                                  "Rattitude",        true },
-    { PX4_CUSTOM_MAIN_MODE_ALTCTL,      0,                                  "Altitude Control", true },
-    { PX4_CUSTOM_MAIN_MODE_POSCTL,      0,                                  "Position Control", true },
-    { PX4_CUSTOM_MAIN_MODE_OFFBOARD,    0,                                  "Offboard Control", true },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_READY,     "Auto: Ready",       false },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,   "Auto: Takeoff",       false },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LOITER,    "Auto: Pause",           true },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_MISSION,   "Auto: Mission",          true },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTL,       "Auto: Return To Land",   true },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LAND,      "Auto: Landing",          false },
-    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTGS,      "Return, Link Loss", false },
+    { PX4_CUSTOM_MAIN_MODE_MANUAL,      0,                                  PX4FirmwarePlugin::manualFlightMode,        true },
+    { PX4_CUSTOM_MAIN_MODE_ACRO,        0,                                  PX4FirmwarePlugin::acroFlightMode,          true },
+    { PX4_CUSTOM_MAIN_MODE_STABILIZED,  0,                                  PX4FirmwarePlugin::stabilizedFlightMode,    true },
+    { PX4_CUSTOM_MAIN_MODE_RATTITUDE,   0,                                  PX4FirmwarePlugin::rattitudeFlightMode,     true },
+    { PX4_CUSTOM_MAIN_MODE_ALTCTL,      0,                                  PX4FirmwarePlugin::altCtlFlightMode,        true },
+    { PX4_CUSTOM_MAIN_MODE_POSCTL,      0,                                  PX4FirmwarePlugin::posCtlFlightMode,        true },
+    { PX4_CUSTOM_MAIN_MODE_OFFBOARD,    0,                                  PX4FirmwarePlugin::offboardFlightMode,      true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_READY,     PX4FirmwarePlugin::readyFlightMode,         false },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,   PX4FirmwarePlugin::takeoffFlightMode,       false },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LOITER,    PX4FirmwarePlugin::pauseFlightMode,         true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_MISSION,   PX4FirmwarePlugin::missionFlightMode,       true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTL,       PX4FirmwarePlugin::rtlFlightMode,           true },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_LAND,      PX4FirmwarePlugin::landingFlightMode,       false },
+    { PX4_CUSTOM_MAIN_MODE_AUTO,        PX4_CUSTOM_SUB_MODE_AUTO_RTGS,      PX4FirmwarePlugin::rtgsFlightMode,          false },
 };
 
-
 QList<VehicleComponent*> PX4FirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
 {
     Q_UNUSED(vehicle);
@@ -244,5 +258,5 @@ QObject* PX4FirmwarePlugin::loadParameterMetaData(const QString& metaDataFile)
 
 void PX4FirmwarePlugin::pauseVehicle(Vehicle* vehicle)
 {
-    vehicle->setFlightMode("Auto: Pause");
+    vehicle->setFlightMode(pauseFlightMode);
 }

src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h

@@ -56,6 +56,24 @@ public:
     QString     internalParameterMetaDataFile   (void) final { return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }
     void        getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) final { PX4ParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
     QObject*    loadParameterMetaData           (const QString& metaDataFile);
+
+    // Use these constants to set flight modes using setFlightMode method. Don't use hardcoded string names since the
+    // names may change.
+
+    static const char* manualFlightMode;
+    static const char* acroFlightMode;
+    static const char* stabilizedFlightMode;
+    static const char* rattitudeFlightMode;
+    static const char* altCtlFlightMode;
+    static const char* posCtlFlightMode;
+    static const char* offboardFlightMode;
+    static const char* readyFlightMode;
+    static const char* takeoffFlightMode;
+    static const char* pauseFlightMode;
+    static const char* missionFlightMode;
+    static const char* rtlFlightMode;
+    static const char* landingFlightMode;
+    static const char* rtgsFlightMode;
 };
 
 #endif