Merge pull request #1987 from pritamghanghas/apm_mode_support

flight mode support for ArduPilot

QGCApplication.pro

@@ -520,6 +520,8 @@ HEADERS+= \
     src/FirmwarePlugin/FirmwarePlugin.h \
     src/FirmwarePlugin/APM/APMFirmwarePlugin.h \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h \
+    src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h \
+    src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h \
     src/FirmwarePlugin/Generic/GenericFirmwarePlugin.h \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h \
     src/Vehicle/MultiVehicleManager.h \
@@ -557,6 +559,8 @@ SOURCES += \
     src/AutoPilotPlugins/PX4/SensorsComponentController.cc \
     src/FirmwarePlugin/APM/APMFirmwarePlugin.cc \
     src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc \
+    src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc \
+    src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc \
     src/FirmwarePlugin/FirmwarePluginManager.cc \
     src/FirmwarePlugin/Generic/GenericFirmwarePlugin.cc \
     src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc \

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -28,8 +28,6 @@
 #include "Generic/GenericFirmwarePlugin.h"
 #include "QGCMAVLink.h"
 
-#include <QDebug>
-
 QGC_LOGGING_CATEGORY(APMFirmwarePluginLog, "APMFirmwarePluginLog")
 
 static const QRegExp APM_COPTER_REXP("^(ArduCopter|APM:Copter)");
@@ -115,6 +113,31 @@ void APMFirmwareVersion::_parseVersion(const QString &versionText)
     _patch         = capturedTexts[4].toInt();
 }
 
+
+/*
+ * @brief APMCustomMode encapsulates the custom modes for APM
+ */
+APMCustomMode::APMCustomMode(uint32_t mode, bool settable) :
+    _mode(mode),
+    _settable(settable)
+{
+}
+
+
+void APMCustomMode::setEnumToStringMapping(const QMap<uint32_t, QString>& enumToString)
+{
+    _enumToString = enumToString;
+}
+
+QString APMCustomMode::modeString() const
+{
+    QString mode = _enumToString.value(modeAsInt());
+    if (mode.isEmpty()) {
+        mode = "mode" + QString::number(modeAsInt());
+    }
+    return mode;
+}
+
 APMFirmwarePlugin::APMFirmwarePlugin(QObject* parent) :
     FirmwarePlugin(parent)
 {
@@ -123,11 +146,7 @@ APMFirmwarePlugin::APMFirmwarePlugin(QObject* parent) :
 
 bool APMFirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
 {
-    Q_UNUSED(capabilities);
-    
-    // FIXME: No capabilitis yet supported
-    
-    return false;
+    return (capabilities & (MavCmdPreflightStorageCapability | SetFlightModeCapability)) == capabilities;
 }
 
 QList<VehicleComponent*> APMFirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
@@ -139,28 +158,50 @@ QList<VehicleComponent*> APMFirmwarePlugin::componentsForVehicle(AutoPilotPlugin
 
 QStringList APMFirmwarePlugin::flightModes(void)
 {   
-    // FIXME: NYI
-    
-    qWarning() << "APMFirmwarePlugin::flightModes not supported";
-    
-    return QStringList();
+    QStringList flightModesList;
+    foreach (const APMCustomMode& customMode, _supportedModes) {
+        if (customMode.canBeSet()) {
+            flightModesList << customMode.modeString();
+        }
+    }
+    return flightModesList;
 }
 
 QString APMFirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode)
 {
-    // FIXME: Nothing more than generic support yet
-    return GenericFirmwarePlugin::instance()->flightMode(base_mode, custom_mode);
+    QString flightMode = "Unknown";
+
+    if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
+        foreach (const APMCustomMode& customMode, _supportedModes) {
+            if (customMode.modeAsInt() == custom_mode) {
+                flightMode = customMode.modeString();
+            }
+        }
+    }
+    return flightMode;
 }
 
 bool APMFirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode)
 {
-    Q_UNUSED(flightMode);
-    Q_UNUSED(base_mode);
-    Q_UNUSED(custom_mode);
+    *base_mode = 0;
+    *custom_mode = 0;
 
-    qWarning() << "APMFirmwarePlugin::setFlightMode called on base class, not supported";
+    bool found = false;
 
-    return false;
+    foreach(const APMCustomMode& mode, _supportedModes) {
+        if (flightMode.compare(mode.modeString(), Qt::CaseInsensitive) == 0) {
+            *base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
+            *custom_mode = mode.modeAsInt();
+            found = true;
+            break;
+        }
+    }
+
+    if (!found) {
+        qCWarning(APMFirmwarePluginLog) << "Unknown flight Mode" << flightMode;
+    }
+
+    return found;
 }
 
 int APMFirmwarePlugin::manualControlReservedButtonCount(void)
@@ -332,3 +373,8 @@ void APMFirmwarePlugin::initializeVehicle(Vehicle* vehicle)
     vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA2,             10);
     vehicle->requestDataStream(MAV_DATA_STREAM_EXTRA3,             3);
 }
+
+void APMFirmwarePlugin::setSupportedModes(QList<APMCustomMode> supportedModes)
+{
+    _supportedModes = supportedModes;
+}

src/FirmwarePlugin/APM/APMFirmwarePlugin.h

@@ -55,6 +55,23 @@ private:
     int     _patch;
 };
 
+class APMCustomMode
+{
+public:
+    APMCustomMode(uint32_t mode, bool settable);
+    uint32_t modeAsInt() const { return _mode; }
+    bool canBeSet() const { return _settable; }
+    QString modeString() const;
+
+protected:
+    void setEnumToStringMapping(const QMap<uint32_t,QString>& enumToString);
+
+private:
+    uint32_t               _mode;
+    bool                   _settable;
+    QMap<uint32_t,QString> _enumToString;
+};
+
 /// This is the base class for all stack specific APM firmware plugins
 class APMFirmwarePlugin : public FirmwarePlugin
 {
@@ -74,6 +91,7 @@ public:
 protected:
     /// All access to singleton is through stack specific implementation
     APMFirmwarePlugin(QObject* parent = NULL);
+    void setSupportedModes(QList<APMCustomMode> supportedModes);
     
 private:
     void _adjustSeverity(mavlink_message_t* message) const;
@@ -81,6 +99,7 @@ private:
 
     APMFirmwareVersion      _firmwareVersion;
     bool                    _textSeverityAdjustmentNeeded;
+    QList<APMCustomMode>    _supportedModes;
 
 };
 

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -26,56 +26,53 @@
 
 #include "ArduCopterFirmwarePlugin.h"
 #include "Generic/GenericFirmwarePlugin.h"
-#include "QGCMAVLink.h"
-
-#include <QDebug>
 
 IMPLEMENT_QGC_SINGLETON(ArduCopterFirmwarePlugin, ArduCopterFirmwarePlugin)
 
-ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(QObject* parent) :
-    APMFirmwarePlugin(parent)
-{
-
-}
-
-bool ArduCopterFirmwarePlugin::isCapable(FirmwareCapabilities capabilities)
+APMCopterMode::APMCopterMode(uint32_t mode, bool settable) : APMCustomMode(mode, settable)
 {
-    Q_UNUSED(capabilities);
-    
-    // FIXME: No capabilitis yet supported
-    
-    return false;
-}
-
-QList<VehicleComponent*> ArduCopterFirmwarePlugin::componentsForVehicle(AutoPilotPlugin* vehicle)
-{
-    Q_UNUSED(vehicle);
-    
-    return QList<VehicleComponent*>();
+    QMap<uint32_t,QString> enumToString;
+    enumToString.insert(STABILIZE, "Stabilize");
+    enumToString.insert(ACRO,      "Acro");
+    enumToString.insert(ALT_HOLD,  "Alt 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(BRAKE,     "Brake");
+
+    setEnumToStringMapping(enumToString);
 }
 
-QStringList ArduCopterFirmwarePlugin::flightModes(void)
-{
-    // FIXME: NYI
-    
-    qWarning() << "ArduCopterFirmwarePlugin::flightModes not supported";
-    
-    return QStringList();
-}
-
-QString ArduCopterFirmwarePlugin::flightMode(uint8_t base_mode, uint32_t custom_mode)
-{
-    // FIXME: Nothing more than generic support yet
-    return GenericFirmwarePlugin::instance()->flightMode(base_mode, custom_mode);
-}
-
-bool ArduCopterFirmwarePlugin::setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode)
+ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(QObject* parent) :
+    APMFirmwarePlugin(parent)
 {
-    Q_UNUSED(flightMode);
-    Q_UNUSED(base_mode);
-    Q_UNUSED(custom_mode);
-    
-    qWarning() << "ArduCopterFirmwarePlugin::setFlightMode called on base class, not supported";
-    
-    return false;
+    QList<APMCustomMode> supportedFlightModes;
+    supportedFlightModes << APMCopterMode(APMCopterMode::STABILIZE ,true);
+    supportedFlightModes << APMCopterMode(APMCopterMode::ACRO      ,true);
+    supportedFlightModes << APMCopterMode(APMCopterMode::ALT_HOLD  ,true);
+    supportedFlightModes << APMCopterMode(APMCopterMode::AUTO      ,true);
+    supportedFlightModes << APMCopterMode(APMCopterMode::GUIDED    ,true);
+    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);
+    setSupportedModes(supportedFlightModes);
 }

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h

@@ -29,6 +29,35 @@
 
 #include "APMFirmwarePlugin.h"
 
+class APMCopterMode : public APMCustomMode
+{
+public:
+    enum Mode {
+        STABILIZE   = 0,   // hold level position
+        ACRO        = 1,   // rate control
+        ALT_HOLD    = 2,   // AUTO control
+        AUTO        = 3,   // AUTO control
+        GUIDED      = 4,   // AUTO control
+        LOITER      = 5,   // Hold a single location
+        RTL         = 6,   // AUTO control
+        CIRCLE      = 7,   // AUTO control
+        POSITION    = 8,   // AUTO control
+        LAND        = 9,   // AUTO control
+        OF_LOITER   = 10,  // Hold a single location using optical flow
+                           // sensor
+        DRIFT       = 11,  // Drift 'Car Like' mode
+        RESERVED_12 = 12,  // RESERVED FOR FUTURE USE
+        SPORT       = 13,  // [TODO] Verify this is correct.
+        FLIP        = 14,
+        AUTOTUNE    = 15,
+        POS_HOLD    = 16, // HYBRID LOITER.
+        BRAKE       = 17
+    };
+    static const int modeCount = 18;
+
+    APMCopterMode(uint32_t mode, bool settable);
+};
+
 class ArduCopterFirmwarePlugin : public APMFirmwarePlugin
 {
     Q_OBJECT
@@ -36,12 +65,6 @@ class ArduCopterFirmwarePlugin : public APMFirmwarePlugin
     DECLARE_QGC_SINGLETON(ArduCopterFirmwarePlugin, ArduCopterFirmwarePlugin)
     
 public:
-    // Overrides from FirmwarePlugin
-    virtual bool isCapable(FirmwareCapabilities capabilities);
-    virtual QList<VehicleComponent*> componentsForVehicle(AutoPilotPlugin* vehicle);
-    virtual QStringList flightModes(void);
-    virtual QString flightMode(uint8_t base_mode, uint32_t custom_mode);
-    virtual bool setFlightMode(const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
 
 protected:
     /// All access to singleton is through instance()

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
+
+#include "ArduPlaneFirmwarePlugin.h"
+#include "Generic/GenericFirmwarePlugin.h"
+
+IMPLEMENT_QGC_SINGLETON(ArduPlaneFirmwarePlugin, ArduPlaneFirmwarePlugin)
+
+APMPlaneMode::APMPlaneMode(uint32_t mode, bool settable) : APMCustomMode(mode, settable)
+{
+    QMap<uint32_t,QString> enumToString;
+    enumToString.insert(MANUAL,         "Manual");
+    enumToString.insert(CIRCLE,         "Circle");
+    enumToString.insert(STABILIZE,      "Stabilize");
+    enumToString.insert(TRAINING,       "Training");
+    enumToString.insert(ACRO,           "Acro");
+    enumToString.insert(FLY_BY_WIRE_A,  "FWB A");
+    enumToString.insert(FLY_BY_WIRE_B,  "FWB B");
+    enumToString.insert(CRUISE,         "Cruise");
+    enumToString.insert(AUTOTUNE,       "Autotune");
+    enumToString.insert(AUTO,           "Auto");
+    enumToString.insert(RTL,            "RTL");
+    enumToString.insert(LOITER,         "Loiter");
+    enumToString.insert(GUIDED,         "Guided");
+    enumToString.insert(INITIALIZING,   "Initializing");
+
+    setEnumToStringMapping(enumToString);
+}
+
+ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(QObject* parent) :
+    APMFirmwarePlugin(parent)
+{
+    QList<APMCustomMode> supportedFlightModes;
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::MANUAL          ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::CIRCLE          ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::STABILIZE       ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::TRAINING        ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::ACRO            ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::FLY_BY_WIRE_A   ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::FLY_BY_WIRE_B   ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::CRUISE          ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::AUTOTUNE        ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::AUTO            ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::RTL             ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::LOITER          ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::GUIDED          ,true);
+    supportedFlightModes << APMPlaneMode(APMPlaneMode::INITIALIZING    ,false);
+    setSupportedModes(supportedFlightModes);
+}

src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
+
+#ifndef ArduPlaneFirmwarePlugin_H
+#define ArduPlaneFirmwarePlugin_H
+
+#include "APMFirmwarePlugin.h"
+
+class APMPlaneMode: public APMCustomMode
+{
+public:
+    enum Mode {
+        MANUAL        = 0,
+        CIRCLE        = 1,
+        STABILIZE     = 2,
+        TRAINING      = 3,
+        ACRO          = 4,
+        FLY_BY_WIRE_A = 5,
+        FLY_BY_WIRE_B = 6,
+        CRUISE        = 7,
+        AUTOTUNE      = 8,
+        RESERVED_9    = 9,  // RESERVED FOR FUTURE USE
+        AUTO          = 10,
+        RTL           = 11,
+        LOITER        = 12,
+        RESERVED_13   = 13, // RESERVED FOR FUTURE USE
+        RESERVED_14   = 14, // RESERVED FOR FUTURE USE
+        GUIDED        = 15,
+        INITIALIZING  = 16
+    };
+    static const int modeCount = 17;
+
+    APMPlaneMode(uint32_t mode, bool settable);
+};
+
+class ArduPlaneFirmwarePlugin : public APMFirmwarePlugin
+{
+    Q_OBJECT
+
+    DECLARE_QGC_SINGLETON(ArduPlaneFirmwarePlugin, ArduPlaneFirmwarePlugin)
+    
+public:
+
+protected:
+    /// All access to singleton is through instance()
+    ArduPlaneFirmwarePlugin(QObject* parent = NULL);
+    
+private:
+};
+
+#endif

src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2015 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
+
+#include "ArduRoverFirmwarePlugin.h"
+#include "Generic/GenericFirmwarePlugin.h"
+
+IMPLEMENT_QGC_SINGLETON(ArduRoverFirmwarePlugin, ArduRoverFirmwarePlugin)
+
+APMRoverMode::APMRoverMode(uint32_t mode, bool settable) : APMCustomMode(mode, settable)
+{
+    QMap<uint32_t,QString> enumToString;
+    enumToString.insert(MANUAL,         "Manual");
+    enumToString.insert(LEARNING,       "Learning");
+    enumToString.insert(STEERING,       "Steering");
+    enumToString.insert(HOLD,           "Hold");
+    enumToString.insert(AUTO,           "Auto");
+    enumToString.insert(RTL,            "RTL");
+    enumToString.insert(GUIDED,         "Guided");
+    enumToString.insert(INITIALIZING,   "Initializing");
+
+    setEnumToStringMapping(enumToString);
+}
+
+ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(QObject* parent) :
+    APMFirmwarePlugin(parent)
+{
+    QList<APMCustomMode> supportedFlightModes;
+    supportedFlightModes << APMRoverMode(APMRoverMode::MANUAL       ,true);
+    supportedFlightModes << APMRoverMode(APMRoverMode::LEARNING     ,true);
+    supportedFlightModes << APMRoverMode(APMRoverMode::STEERING     ,true);
+    supportedFlightModes << APMRoverMode(APMRoverMode::HOLD         ,true);
+    supportedFlightModes << APMRoverMode(APMRoverMode::AUTO         ,true);
+    supportedFlightModes << APMRoverMode(APMRoverMode::RTL          ,true);
+    supportedFlightModes << APMRoverMode(APMRoverMode::GUIDED       ,true);
+    supportedFlightModes << APMRoverMode(APMRoverMode::INITIALIZING ,false);
+    setSupportedModes(supportedFlightModes);
+}

src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h

+/*=====================================================================
+ 
+ QGroundControl Open Source Ground Control Station
+ 
+ (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ 
+ This file is part of the QGROUNDCONTROL project
+ 
+ QGROUNDCONTROL is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ QGROUNDCONTROL is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
+ 
+ ======================================================================*/
+
+/// @file
+///     @author Pritam Ghanghas <pritam.ghanghas@gmail.com>
+
+#ifndef ArduRoverFirmwarePlugin_H
+#define ArduRoverFirmwarePlugin_H
+
+#include "APMFirmwarePlugin.h"
+
+class APMRoverMode : public APMCustomMode
+{
+public:
+    enum Mode {
+        MANUAL        = 0,
+        RESERVED_1    = 1, // RESERVED FOR FUTURE USE
+        LEARNING      = 2,
+        STEERING      = 3,
+        HOLD          = 4,
+        RESERVED_5    = 5, // RESERVED FOR FUTURE USE
+        RESERVED_6    = 6, // RESERVED FOR FUTURE USE
+        RESERVED_7    = 7, // RESERVED FOR FUTURE USE
+        RESERVED_8    = 8, // RESERVED FOR FUTURE USE
+        RESERVED_9    = 9, // RESERVED FOR FUTURE USE
+        AUTO          = 10,
+        RTL           = 11,
+        RESERVED_12   = 12, // RESERVED FOR FUTURE USE
+        RESERVED_13   = 13, // RESERVED FOR FUTURE USE
+        RESERVED_14   = 14, // RESERVED FOR FUTURE USE
+        GUIDED        = 15,
+        INITIALIZING  = 16,
+    };
+    static const int modeCount = 17;
+
+    APMRoverMode(uint32_t mode, bool settable);
+};
+
+class ArduRoverFirmwarePlugin : public APMFirmwarePlugin
+{
+    Q_OBJECT
+
+    DECLARE_QGC_SINGLETON(ArduRoverFirmwarePlugin, ArduRoverFirmwarePlugin)
+    
+public:
+
+protected:
+    /// All access to singleton is through instance()
+    ArduRoverFirmwarePlugin(QObject* parent = NULL);
+    
+private:
+};
+
+#endif

src/FirmwarePlugin/FirmwarePluginManager.cc

@@ -27,6 +27,8 @@
 #include "FirmwarePluginManager.h"
 #include "Generic/GenericFirmwarePlugin.h"
 #include "APM/ArduCopterFirmwarePlugin.h"
+#include "APM/ArduPlaneFirmwarePlugin.h"
+#include "APM/ArduRoverFirmwarePlugin.h"
 #include "PX4/PX4FirmwarePlugin.h"
 
 IMPLEMENT_QGC_SINGLETON(FirmwarePluginManager, FirmwarePluginManager)
@@ -51,22 +53,24 @@ FirmwarePlugin* FirmwarePluginManager::firmwarePluginForAutopilot(MAV_AUTOPILOT
                 case MAV_TYPE_HEXAROTOR:
                 case MAV_TYPE_OCTOROTOR:
                 case MAV_TYPE_TRICOPTER:
+                case MAV_TYPE_COAXIAL:
+                case MAV_TYPE_HELICOPTER:
                     return ArduCopterFirmwarePlugin::instance();
                     break;
-                // FIXME: The remainder of these need to be correctly assigned and new plugin classes created as needed.
-                // Once done, the unused cases can be removed and just the fall back default: left
                 case MAV_TYPE_FIXED_WING:
+                    return ArduPlaneFirmwarePlugin::instance();
+                    break;
+                case MAV_TYPE_GROUND_ROVER:
+                case MAV_TYPE_SURFACE_BOAT:
+                case MAV_TYPE_SUBMARINE:
+                    return ArduRoverFirmwarePlugin::instance();
+                    break;
                 case MAV_TYPE_GENERIC:
-                case MAV_TYPE_COAXIAL:
-                case MAV_TYPE_HELICOPTER:
                 case MAV_TYPE_ANTENNA_TRACKER:
                 case MAV_TYPE_GCS:
                 case MAV_TYPE_AIRSHIP:
                 case MAV_TYPE_FREE_BALLOON:
                 case MAV_TYPE_ROCKET:
-                case MAV_TYPE_GROUND_ROVER:
-                case MAV_TYPE_SURFACE_BOAT:
-                case MAV_TYPE_SUBMARINE:
                 case MAV_TYPE_FLAPPING_WING:
                 case MAV_TYPE_KITE:
                 case MAV_TYPE_ONBOARD_CONTROLLER:

src/QGCApplication.cc

@@ -74,6 +74,8 @@
 #include "MultiVehicleManager.h"
 #include "Generic/GenericFirmwarePlugin.h"
 #include "APM/ArduCopterFirmwarePlugin.h"
+#include "APM/ArduPlaneFirmwarePlugin.h"
+#include "APM/ArduRoverFirmwarePlugin.h"
 #include "PX4/PX4FirmwarePlugin.h"
 #include "Vehicle.h"
 #include "MavlinkQmlSingleton.h"
@@ -596,6 +598,8 @@ void QGCApplication::_createSingletons(void)
     // No dependencies
     firmwarePlugin = PX4FirmwarePlugin::_createSingleton();
     firmwarePlugin = ArduCopterFirmwarePlugin::_createSingleton();
+    firmwarePlugin = ArduPlaneFirmwarePlugin::_createSingleton();
+    firmwarePlugin = ArduRoverFirmwarePlugin::_createSingleton();
     
     // No dependencies
     FirmwarePluginManager* firmwarePluginManager = FirmwarePluginManager::_createSingleton();
@@ -673,6 +677,8 @@ void QGCApplication::_destroySingletons(void)
     GenericFirmwarePlugin::_deleteSingleton();
     PX4FirmwarePlugin::_deleteSingleton();
     ArduCopterFirmwarePlugin::_deleteSingleton();
+    ArduPlaneFirmwarePlugin::_deleteSingleton();
+    ArduRoverFirmwarePlugin::_deleteSingleton();
     HomePositionManager::_deleteSingleton();
     FlightMapSettings::_deleteSingleton();
 }