Skip to content

Q
qgroundcontrol
Commit 6422cc92 authored by Don Gagne's avatar Don Gagne
Browse files
Options

parent 18bd5177
Hide whitespace changes
Inline Side-by-side
Showing with 48 additions and 40 deletions
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
View file @ 6422cc92
...@@ -23,50 +23,56 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) : ...@@ -23,50 +23,56 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
APMCustomMode(mode, settable) APMCustomMode(mode, settable)
{ {
setEnumToStringMapping({ setEnumToStringMapping({
{STABILIZE, "Stabilize"}, { STABILIZE, "Stabilize"},
{ACRO, "Acro"}, { ACRO, "Acro"},
{ALT_HOLD, "Altitude Hold"}, { ALT_HOLD, "Altitude Hold"},
{AUTO, "Auto"}, { AUTO, "Auto"},
{GUIDED, "Guided"}, { GUIDED, "Guided"},
{LOITER, "Loiter"}, { LOITER, "Loiter"},
{RTL, "RTL"}, { RTL, "RTL"},
{CIRCLE, "Circle"}, { CIRCLE, "Circle"},
{LAND, "Land"}, { LAND, "Land"},
{DRIFT, "Drift"}, { DRIFT, "Drift"},
{SPORT, "Sport"}, { SPORT, "Sport"},
{FLIP, "Flip"}, { FLIP, "Flip"},
{AUTOTUNE, "Autotune"}, { AUTOTUNE, "Autotune"},
{POS_HOLD, "Position Hold"}, { POS_HOLD, "Position Hold"},
{BRAKE, "Brake"}, { BRAKE, "Brake"},
{THROW, "Throw"}, { THROW, "Throw"},
{AVOID_ADSB, "Avoid ADSB"}, { AVOID_ADSB, "Avoid ADSB"},
{GUIDED_NOGPS, "Guided No GPS"}, { GUIDED_NOGPS, "Guided No GPS"},
{SAFE_RTL, "Smart RTL"}, { SMART_RTL, "Smart RTL"},
{ FLOWHOLD, "Flow Hold" },
{ FOLLOW, "Follow" },
{ ZIGZAG, "ZigZag" },
}); });
} }
ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void) ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
{ {
setSupportedModes({ setSupportedModes({
APMCopterMode(APMCopterMode::STABILIZE ,true), APMCopterMode(APMCopterMode::STABILIZE, true),
APMCopterMode(APMCopterMode::ACRO ,true), APMCopterMode(APMCopterMode::ACRO, true),
APMCopterMode(APMCopterMode::ALT_HOLD ,true), APMCopterMode(APMCopterMode::ALT_HOLD, true),
APMCopterMode(APMCopterMode::AUTO ,true), APMCopterMode(APMCopterMode::AUTO, true),
APMCopterMode(APMCopterMode::GUIDED ,true), APMCopterMode(APMCopterMode::GUIDED, true),
APMCopterMode(APMCopterMode::LOITER ,true), APMCopterMode(APMCopterMode::LOITER, true),
APMCopterMode(APMCopterMode::RTL ,true), APMCopterMode(APMCopterMode::RTL, true),
APMCopterMode(APMCopterMode::CIRCLE ,true), APMCopterMode(APMCopterMode::CIRCLE, true),
APMCopterMode(APMCopterMode::LAND ,true), APMCopterMode(APMCopterMode::LAND, true),
APMCopterMode(APMCopterMode::DRIFT ,true), APMCopterMode(APMCopterMode::DRIFT, true),
APMCopterMode(APMCopterMode::SPORT ,true), APMCopterMode(APMCopterMode::SPORT, true),
APMCopterMode(APMCopterMode::FLIP ,true), APMCopterMode(APMCopterMode::FLIP, true),
APMCopterMode(APMCopterMode::AUTOTUNE ,true), APMCopterMode(APMCopterMode::AUTOTUNE, true),
APMCopterMode(APMCopterMode::POS_HOLD ,true), APMCopterMode(APMCopterMode::POS_HOLD, true),
APMCopterMode(APMCopterMode::BRAKE ,true), APMCopterMode(APMCopterMode::BRAKE, true),
APMCopterMode(APMCopterMode::THROW ,true), APMCopterMode(APMCopterMode::THROW, true),
APMCopterMode(APMCopterMode::AVOID_ADSB,true), APMCopterMode(APMCopterMode::AVOID_ADSB, true),
APMCopterMode(APMCopterMode::GUIDED_NOGPS,true), APMCopterMode(APMCopterMode::GUIDED_NOGPS, true),
APMCopterMode(APMCopterMode::SAFE_RTL,true), APMCopterMode(APMCopterMode::SMART_RTL, true),
APMCopterMode(APMCopterMode::FLOWHOLD, true),
APMCopterMode(APMCopterMode::FOLLOW, true),
APMCopterMode(APMCopterMode::ZIGZAG, true),
}); });
if (!_remapParamNameIntialized) { if (!_remapParamNameIntialized) {
......
src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
View file @ 6422cc92
...@@ -41,9 +41,11 @@ public: ...@@ -41,9 +41,11 @@ public:
THROW = 18, THROW = 18,
AVOID_ADSB = 19, AVOID_ADSB = 19,
GUIDED_NOGPS= 20, GUIDED_NOGPS= 20,
SAFE_RTL = 21, //Safe Return to Launch SMART_RTL = 21, // SMART_RTL returns to home by retracing its steps
FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder
FOLLOW = 23, // follow attempts to follow another vehicle or ground station
ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
}; };
static const int modeCount = 22;
APMCopterMode(uint32_t mode, bool settable); APMCopterMode(uint32_t mode, bool settable);
}; };
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment