Merge pull request #4951 from lvale/ArduCopter_Flight_Modes

Revised changes to ArduCopter Flight Modes

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -25,21 +25,22 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
     QMap<uint32_t,QString> enumToString;
     enumToString.insert(STABILIZE, "Stabilize");
     enumToString.insert(ACRO,      "Acro");
-    enumToString.insert(ALT_HOLD,  "Alt Hold");
+    enumToString.insert(ALT_HOLD,  "Altitude Hold");
     enumToString.insert(AUTO,      "Auto");
     enumToString.insert(GUIDED,    "Guided");
     enumToString.insert(LOITER,    "Loiter");
     enumToString.insert(RTL,       "RTL");
     enumToString.insert(CIRCLE,    "Circle");
-    enumToString.insert(POSITION,  "Position");
     enumToString.insert(LAND,      "Land");
-    enumToString.insert(OF_LOITER, "OF Loiter");
     enumToString.insert(DRIFT,     "Drift");
     enumToString.insert(SPORT,     "Sport");
     enumToString.insert(FLIP,      "Flip");
     enumToString.insert(AUTOTUNE,  "Autotune");
-    enumToString.insert(POS_HOLD,  "Pos Hold");
+    enumToString.insert(POS_HOLD,  "Position Hold");
     enumToString.insert(BRAKE,     "Brake");
+    enumToString.insert(THROW,     "Throw");
+    enumToString.insert(AVOID_ADSB,"Avoid ADSB");
+    enumToString.insert(GUIDED_NOGPS,"Guided No GPS");
 
     setEnumToStringMapping(enumToString);
 }
@@ -55,15 +56,18 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
     supportedFlightModes << APMCopterMode(APMCopterMode::LOITER    ,true);
     supportedFlightModes << APMCopterMode(APMCopterMode::RTL       ,true);
     supportedFlightModes << APMCopterMode(APMCopterMode::CIRCLE    ,true);
-    supportedFlightModes << APMCopterMode(APMCopterMode::POSITION  ,true);
     supportedFlightModes << APMCopterMode(APMCopterMode::LAND      ,true);
-    supportedFlightModes << APMCopterMode(APMCopterMode::OF_LOITER ,true);
     supportedFlightModes << APMCopterMode(APMCopterMode::DRIFT     ,true);
     supportedFlightModes << APMCopterMode(APMCopterMode::SPORT     ,true);
     supportedFlightModes << APMCopterMode(APMCopterMode::FLIP      ,true);
     supportedFlightModes << APMCopterMode(APMCopterMode::AUTOTUNE  ,true);
     supportedFlightModes << APMCopterMode(APMCopterMode::POS_HOLD  ,true);
     supportedFlightModes << APMCopterMode(APMCopterMode::BRAKE     ,true);
+    supportedFlightModes << APMCopterMode(APMCopterMode::THROW     ,true);
+    supportedFlightModes << APMCopterMode(APMCopterMode::AVOID_ADSB,true);
+    supportedFlightModes << APMCopterMode(APMCopterMode::GUIDED_NOGPS,true);
+
+
     setSupportedModes(supportedFlightModes);
 
     if (!_remapParamNameIntialized) {

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -28,19 +28,21 @@ public:
         LOITER      = 5,   // Hold a single location
         RTL         = 6,   // AUTO control
         CIRCLE      = 7,   // AUTO control
-        POSITION    = 8,   // AUTO control
+        POSITION    = 8,   // Deprecated
         LAND        = 9,   // AUTO control
-        OF_LOITER   = 10,  // Hold a single location using optical flow
-                           // sensor
+        OF_LOITER   = 10,  // Deprecated
         DRIFT       = 11,  // Drift 'Car Like' mode
         RESERVED_12 = 12,  // RESERVED FOR FUTURE USE
-        SPORT       = 13,  // [TODO] Verify this is correct.
+        SPORT       = 13,
         FLIP        = 14,
         AUTOTUNE    = 15,
         POS_HOLD    = 16, // HYBRID LOITER.
-        BRAKE       = 17
+        BRAKE       = 17,
+        THROW       = 18,
+        AVOID_ADSB  = 19,
+        GUIDED_NOGPS= 20,
     };
-    static const int modeCount = 18;
+    static const int modeCount = 21;
 
     APMCopterMode(uint32_t mode, bool settable);
 };