From 68046276cbe3a229bb9a994b6d4c261d7217b458 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Fri, 28 Dec 2018 12:19:46 -0800 Subject: [PATCH] Add gotoFlightMode property --- src/Vehicle/Vehicle.cc | 5 +++++ src/Vehicle/Vehicle.h | 24 +++++++++++++----------- 2 files changed, 18 insertions(+), 11 deletions(-) diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc index f8cd2b75d..4b9b33ef6 100644 --- a/src/Vehicle/Vehicle.cc +++ b/src/Vehicle/Vehicle.cc @@ -2962,6 +2962,11 @@ bool Vehicle::takeoffVehicleSupported() const return _firmwarePlugin->isCapable(this, FirmwarePlugin::TakeoffVehicleCapability); } +QString Vehicle::gotoFlightMode() const +{ + return _firmwarePlugin->gotoFlightMode(); +} + void Vehicle::guidedModeRTL(void) { if (!guidedModeSupported()) { diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h index 4afdb3b6c..b33098444 100644 --- a/src/Vehicle/Vehicle.h +++ b/src/Vehicle/Vehicle.h @@ -636,13 +636,14 @@ public: Q_PROPERTY(QGCMapCircle* orbitMapCircle READ orbitMapCircle CONSTANT) // Vehicle state used for guided control - Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged) ///< Vehicle is flying - Q_PROPERTY(bool landing READ landing NOTIFY landingChanged) ///< Vehicle is in landing pattern (DO_LAND_START) - Q_PROPERTY(bool guidedMode READ guidedMode WRITE setGuidedMode NOTIFY guidedModeChanged) ///< Vehicle is in Guided mode and can respond to guided commands - Q_PROPERTY(bool guidedModeSupported READ guidedModeSupported CONSTANT) ///< Guided mode commands are supported by this vehicle - Q_PROPERTY(bool pauseVehicleSupported READ pauseVehicleSupported CONSTANT) ///< Pause vehicle command is supported - Q_PROPERTY(bool orbitModeSupported READ orbitModeSupported CONSTANT) ///< Orbit mode is supported by this vehicle - Q_PROPERTY(bool takeoffVehicleSupported READ takeoffVehicleSupported CONSTANT) ///< Guided takeoff supported + Q_PROPERTY(bool flying READ flying NOTIFY flyingChanged) ///< Vehicle is flying + Q_PROPERTY(bool landing READ landing NOTIFY landingChanged) ///< Vehicle is in landing pattern (DO_LAND_START) + Q_PROPERTY(bool guidedMode READ guidedMode WRITE setGuidedMode NOTIFY guidedModeChanged) ///< Vehicle is in Guided mode and can respond to guided commands + Q_PROPERTY(bool guidedModeSupported READ guidedModeSupported CONSTANT) ///< Guided mode commands are supported by this vehicle + Q_PROPERTY(bool pauseVehicleSupported READ pauseVehicleSupported CONSTANT) ///< Pause vehicle command is supported + Q_PROPERTY(bool orbitModeSupported READ orbitModeSupported CONSTANT) ///< Orbit mode is supported by this vehicle + Q_PROPERTY(bool takeoffVehicleSupported READ takeoffVehicleSupported CONSTANT) ///< Guided takeoff supported + Q_PROPERTY(QString gotoFlightMode READ gotoFlightMode CONSTANT) ///< Flight mode vehicle is in while performing goto Q_PROPERTY(ParameterManager* parameterManager READ parameterManager CONSTANT) @@ -761,10 +762,11 @@ public: /// @param percent 0-no power, 100-full power Q_INVOKABLE void motorTest(int motor, int percent); - bool guidedModeSupported (void) const; - bool pauseVehicleSupported (void) const; - bool orbitModeSupported (void) const; - bool takeoffVehicleSupported(void) const; + bool guidedModeSupported (void) const; + bool pauseVehicleSupported (void) const; + bool orbitModeSupported (void) const; + bool takeoffVehicleSupported (void) const; + QString gotoFlightMode (void) const; // Property accessors -- 2.22.0