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Valentin Platzgummer
qgroundcontrol
Commits
3808a1f9
Commit
3808a1f9
authored
Jun 14, 2016
by
Daniel Agar
Browse files
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PX4 mode cleanup
parent
3caf4007
Changes
6
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6 changed files
with
116 additions
and
93 deletions
+116
-93
qgroundcontrol.pro
qgroundcontrol.pro
+1
-0
PX4AdvancedFlightModes.qml
src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml
+3
-3
PX4FirmwarePlugin.cc
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+32
-58
PX4FirmwarePlugin.h
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+1
-1
px4_custom_mode.h
src/FirmwarePlugin/PX4/px4_custom_mode.h
+77
-0
MockLink.cc
src/comm/MockLink.cc
+2
-31
No files found.
qgroundcontrol.pro
View file @
3808a1f9
...
@@ -664,6 +664,7 @@ HEADERS+= \
...
@@ -664,6 +664,7 @@ HEADERS+= \
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
src/FirmwarePlugin/PX4/px4_custom_mode.h \
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
src/FirmwarePlugin/PX4/PX4ParameterMetaData.h \
src/FirmwarePlugin/PX4/PX4ParameterMetaData.h \
src/Vehicle/MultiVehicleManager.h \
src/Vehicle/MultiVehicleManager.h \
...
...
src/AutoPilotPlugins/PX4/PX4AdvancedFlightModes.qml
View file @
3808a1f9
...
@@ -63,7 +63,7 @@ Item {
...
@@ -63,7 +63,7 @@ Item {
readonly
property
string
fwAcroModeDescription
:
qsTr
(
"
The angular rates are controlled, but not the attitude.
"
)
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
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
"
)
+
readonly
property
string
fwAltCtlModeDescription
:
qsTr
(
"
Roll stick controls banking, pitch stick altitude
"
)
+
qsTr
(
"
Throttle stick controls speed.
"
)
+
qsTr
(
"
Throttle stick controls speed.
"
)
+
qsTr
(
"
With no stick inputs the plane holds heading, but drifts off in wind.
"
)
qsTr
(
"
With no stick inputs the plane holds heading, but drifts off in wind.
"
)
...
@@ -76,10 +76,10 @@ Item {
...
@@ -76,10 +76,10 @@ Item {
readonly
property
string
mrPosCtlModeDescription
:
qsTr
(
"
Roll and Pitch sticks control sideways and forward speed
"
)
+
readonly
property
string
mrPosCtlModeDescription
:
qsTr
(
"
Roll and Pitch sticks control sideways and forward speed
"
)
+
qsTr
(
"
Throttle stick controls climb / sink rade.
"
)
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
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
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.
"
)
readonly
property
string
mrLoiterModeDescription
:
qsTr
(
"
The multirotor hovers at the current position and altitude.
"
)
...
...
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
View file @
3808a1f9
...
@@ -18,37 +18,7 @@
...
@@ -18,37 +18,7 @@
#include <QDebug>
#include <QDebug>
enum
PX4_CUSTOM_MAIN_MODE
{
#include "px4_custom_mode.h"
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
;
};
struct
Modes2Name
{
struct
Modes2Name
{
uint8_t
main_mode
;
uint8_t
main_mode
;
...
@@ -60,39 +30,43 @@ struct Modes2Name {
...
@@ -60,39 +30,43 @@ struct Modes2Name {
};
};
const
char
*
PX4FirmwarePlugin
::
manualFlightMode
=
"Manual"
;
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
::
acroFlightMode
=
"Acro"
;
const
char
*
PX4FirmwarePlugin
::
offboardFlightMode
=
"Offboard"
;
const
char
*
PX4FirmwarePlugin
::
stabilizedFlightMode
=
"Stabilized"
;
const
char
*
PX4FirmwarePlugin
::
stabilizedFlightMode
=
"Stabilized"
;
const
char
*
PX4FirmwarePlugin
::
rattitudeFlightMode
=
"Rattitude"
;
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
::
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
/// Tranlates from PX4 custom modes to flight mode names
static
const
struct
Modes2Name
rgModes2Name
[]
=
{
static
const
struct
Modes2Name
rgModes2Name
[]
=
{
{
PX4_CUSTOM_MAIN_MODE_MANUAL
,
0
,
PX4FirmwarePlugin
::
manualFlightMode
,
true
,
true
,
true
},
//main_mode sub_mode name canBeSet FW MC
{
PX4_CUSTOM_MAIN_MODE_ACRO
,
0
,
PX4FirmwarePlugin
::
acroFlightMode
,
true
,
false
,
true
},
{
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_STABILIZED
,
0
,
PX4FirmwarePlugin
::
stabilizedFlightMode
,
true
,
true
,
true
},
{
PX4_CUSTOM_MAIN_MODE_RATTITUDE
,
0
,
PX4FirmwarePlugin
::
rattitudeFlightMode
,
true
,
false
,
true
},
{
PX4_CUSTOM_MAIN_MODE_ACRO
,
0
,
PX4FirmwarePlugin
::
acroFlightMode
,
true
,
false
,
true
},
{
PX4_CUSTOM_MAIN_MODE_ALTCTL
,
0
,
PX4FirmwarePlugin
::
altCtlFlightMode
,
true
,
true
,
true
},
{
PX4_CUSTOM_MAIN_MODE_RATTITUDE
,
0
,
PX4FirmwarePlugin
::
rattitudeFlightMode
,
true
,
false
,
true
},
{
PX4_CUSTOM_MAIN_MODE_POSCTL
,
0
,
PX4FirmwarePlugin
::
posCtlFlightMode
,
true
,
true
,
true
},
{
PX4_CUSTOM_MAIN_MODE_ALTCTL
,
0
,
PX4FirmwarePlugin
::
altCtlFlightMode
,
true
,
true
,
true
},
{
PX4_CUSTOM_MAIN_MODE_OFFBOARD
,
0
,
PX4FirmwarePlugin
::
offboardFlightMode
,
true
,
true
,
true
},
{
PX4_CUSTOM_MAIN_MODE_POSCTL
,
0
,
PX4FirmwarePlugin
::
posCtlFlightMode
,
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_LOITER
,
PX4FirmwarePlugin
::
holdFlightMode
,
true
,
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_MISSION
,
PX4FirmwarePlugin
::
missionFlightMode
,
true
,
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_RTL
,
PX4FirmwarePlugin
::
rtlFlightMode
,
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_FOLLOW_TARGET
,
PX4FirmwarePlugin
::
followMeFlightMode
,
true
,
true
,
true
},
{
PX4_CUSTOM_MAIN_MODE_AUTO
,
PX4_CUSTOM_SUB_MODE_AUTO_RTL
,
PX4FirmwarePlugin
::
rtlFlightMode
,
true
,
true
,
true
},
{
PX4_CUSTOM_MAIN_MODE_OFFBOARD
,
0
,
PX4FirmwarePlugin
::
offboardFlightMode
,
true
,
true
,
true
},
{
PX4_CUSTOM_MAIN_MODE_AUTO
,
PX4_CUSTOM_SUB_MODE_AUTO_LAND
,
PX4FirmwarePlugin
::
landingFlightMode
,
false
,
true
,
true
},
// modes that can't be directly set by the user
{
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_LAND
,
PX4FirmwarePlugin
::
landingFlightMode
,
false
,
true
,
true
},
{
PX4_CUSTOM_MAIN_MODE_AUTO
,
PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_ME
,
PX4FirmwarePlugin
::
followMeFlightMode
,
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_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
)
QList
<
VehicleComponent
*>
PX4FirmwarePlugin
::
componentsForVehicle
(
AutoPilotPlugin
*
vehicle
)
...
@@ -379,7 +353,7 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
...
@@ -379,7 +353,7 @@ void PX4FirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double altitu
void
PX4FirmwarePlugin
::
setGuidedMode
(
Vehicle
*
vehicle
,
bool
guidedMode
)
void
PX4FirmwarePlugin
::
setGuidedMode
(
Vehicle
*
vehicle
,
bool
guidedMode
)
{
{
if
(
guidedMode
)
{
if
(
guidedMode
)
{
vehicle
->
setFlightMode
(
pause
FlightMode
);
vehicle
->
setFlightMode
(
hold
FlightMode
);
}
else
{
}
else
{
pauseVehicle
(
vehicle
);
pauseVehicle
(
vehicle
);
}
}
...
@@ -388,6 +362,6 @@ void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
...
@@ -388,6 +362,6 @@ void PX4FirmwarePlugin::setGuidedMode(Vehicle* vehicle, bool guidedMode)
bool
PX4FirmwarePlugin
::
isGuidedMode
(
const
Vehicle
*
vehicle
)
const
bool
PX4FirmwarePlugin
::
isGuidedMode
(
const
Vehicle
*
vehicle
)
const
{
{
// Not supported by generic vehicle
// Not supported by generic vehicle
return
(
vehicle
->
flightMode
()
==
pause
FlightMode
||
vehicle
->
flightMode
()
==
takeoffFlightMode
return
(
vehicle
->
flightMode
()
==
hold
FlightMode
||
vehicle
->
flightMode
()
==
takeoffFlightMode
||
vehicle
->
flightMode
()
==
landingFlightMode
);
||
vehicle
->
flightMode
()
==
landingFlightMode
);
}
}
src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
View file @
3808a1f9
...
@@ -63,7 +63,7 @@ public:
...
@@ -63,7 +63,7 @@ public:
static
const
char
*
offboardFlightMode
;
static
const
char
*
offboardFlightMode
;
static
const
char
*
readyFlightMode
;
static
const
char
*
readyFlightMode
;
static
const
char
*
takeoffFlightMode
;
static
const
char
*
takeoffFlightMode
;
static
const
char
*
pause
FlightMode
;
static
const
char
*
hold
FlightMode
;
static
const
char
*
missionFlightMode
;
static
const
char
*
missionFlightMode
;
static
const
char
*
rtlFlightMode
;
static
const
char
*
rtlFlightMode
;
static
const
char
*
landingFlightMode
;
static
const
char
*
landingFlightMode
;
...
...
src/FirmwarePlugin/PX4/px4_custom_mode.h
0 → 100644
View file @
3808a1f9
/****************************************************************************
*
* 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
View file @
3808a1f9
...
@@ -18,6 +18,8 @@
...
@@ -18,6 +18,8 @@
#include <string.h>
#include <string.h>
#include "px4_custom_mode.h"
QGC_LOGGING_CATEGORY
(
MockLinkLog
,
"MockLinkLog"
)
QGC_LOGGING_CATEGORY
(
MockLinkLog
,
"MockLinkLog"
)
QGC_LOGGING_CATEGORY
(
MockLinkVerboseLog
,
"MockLinkVerboseLog"
)
QGC_LOGGING_CATEGORY
(
MockLinkVerboseLog
,
"MockLinkVerboseLog"
)
...
@@ -26,37 +28,6 @@ QGC_LOGGING_CATEGORY(MockLinkVerboseLog, "MockLinkVerboseLog")
...
@@ -26,37 +28,6 @@ QGC_LOGGING_CATEGORY(MockLinkVerboseLog, "MockLinkVerboseLog")
///
///
/// @author Don Gagne <don@thegagnes.com>
/// @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
=
47.633033
f
;
float
MockLink
::
_vehicleLatitude
=
47.633033
f
;
float
MockLink
::
_vehicleLongitude
=
-
122.08794
f
;
float
MockLink
::
_vehicleLongitude
=
-
122.08794
f
;
float
MockLink
::
_vehicleAltitude
=
3.5
f
;
float
MockLink
::
_vehicleAltitude
=
3.5
f
;
...
...
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