base_mode/custom mode support

src/uas/UAS.h

@@ -68,7 +68,7 @@ public:
     /** @brief Get short mode */
     const QString& getShortMode() const;
     /** @brief Translate from mode id to text */
-    static QString getShortModeTextFor(int id);
+    static QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode, int autopilot);
     /** @brief Translate from mode id to audio text */
     static QString getAudioModeTextFor(int id);
     /** @brief Get the unique system id */
@@ -361,9 +361,8 @@ protected: //COMMENTS FOR TEST UNIT
     int airframe;                 ///< The airframe type
     int autopilot;                ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
     bool systemIsArmed;           ///< If the system is armed
-    uint8_t mode;                 ///< The current mode of the MAV
+    uint8_t base_mode;                 ///< The current mode of the MAV
     uint32_t custom_mode;         ///< The current mode of the MAV
-    uint32_t navMode;             ///< The current navigation mode of the MAV
     int status;                   ///< The current status of the MAV
     QString shortModeText;        ///< Short textual mode description
     QString shortStateText;       ///< Short textual state description
@@ -505,8 +504,6 @@ public:
     float getChargeLevel();
     /** @brief Get the human-readable status message for this code */
     void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
-    /** @brief Get the human-readable navigation mode translation for this mode */
-    QString getNavModeText(int mode);
     /** @brief Check if vehicle is in autonomous mode */
     bool isAuto();
     /** @brief Check if vehicle is armed */
@@ -833,7 +830,7 @@ public slots:
     void setSelected();
 
     /** @brief Set current mode of operation, e.g. auto or manual */
-    void setMode(int mode);
+    void setMode(uint8_t newBaseMode, uint32_t newCustomMode);
 
     /** @brief Request all parameters */
     void requestParameters();

src/uas/UASInterface.h

@@ -296,7 +296,7 @@ public slots:
     /** @brief Start/continue the current robot action */
     virtual void go() = 0;
     /** @brief Set the current mode of operation */
-    virtual void setMode(int mode) = 0;
+    virtual void setMode(uint8_t newBaseMode, uint32_t newCustomMode) = 0;
     /** Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
     virtual void emergencySTOP() = 0;
     /** Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/

src/ui/uas/UASControlWidget.h

@@ -39,6 +39,18 @@ This file is part of the QGROUNDCONTROL project
 #include <ui_UASControl.h>
 #include <UASInterface.h>
 
+enum PX4_CUSTOM_MODE {
+    PX4_CUSTOM_MODE_MANUAL = 1,
+    PX4_CUSTOM_MODE_SEATBELT,
+    PX4_CUSTOM_MODE_EASY,
+    PX4_CUSTOM_MODE_AUTO
+};
+
+struct full_mode_s {
+    uint8_t baseMode;
+    uint32_t customMode;
+};
+
 /**
  * @brief Widget controlling one MAV
  */
@@ -51,8 +63,10 @@ public:
     ~UASControlWidget();
 
 public slots:
+    /** @brief Update modes list for selected system */
+    void updateModesList();
     /** @brief Set the system this widget controls */
-    void setUAS(UASInterface* uas);
+    void setUAS(UASInterface* uasID);
     /** @brief Trigger next context action */
     void cycleContextButton();
     /** @brief Set the operation mode of the MAV */
@@ -60,11 +74,11 @@ public slots:
     /** @brief Transmit the operation mode */
     void transmitMode();
     /** @brief Update the mode */
-    void updateMode(int uas,QString mode,QString description);
+    void updateMode(int uasID, QString mode, QString description);
     /** @brief Update state */
     void updateState(int state);
     /** @brief Update internal state machine */
-    void updateStatemachine();
+    void updateArmText();
 
 signals:
     void changedMode(int);
@@ -75,9 +89,11 @@ protected slots:
     void setBackgroundColor(QColor color);
 
 protected:
-    int uas;              ///< Reference to the current uas
-    unsigned int uasMode; ///< Current uas mode
-    bool engineOn;        ///< Engine state
+    int uasID;                        ///< Reference to the current uas
+    struct full_mode_s *modesList;  ///< Modes list for the current UAS
+    int modesNum;                   ///< Number of modes in list for the current UAS
+    int modeIdx;                    ///< Current uas mode index
+    bool armed;                  ///< Engine state
 
 private:
     Ui::uasControl ui;