ArduCopterFirmwarePlugin.cc

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#include "ArduCopterFirmwarePlugin.h"
#include "ParameterManager.h"
#include "Vehicle.h"
 
bool ArduCopterFirmwarePlugin::_remapParamNameIntialized = false;
FirmwarePlugin::remapParamNameMajorVersionMap_t ArduCopterFirmwarePlugin::_remapParamName;
 
ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(QObject *parent)
    : APMFirmwarePlugin(parent)
{
    _setModeEnumToModeStringMapping({
        { APMCopterMode::STABILIZE,    _stabilizeFlightMode     },
        { APMCopterMode::ACRO,         _acroFlightMode          },
        { APMCopterMode::ALT_HOLD,     _altHoldFlightMode       },
        { APMCopterMode::AUTO,         _autoFlightMode          },
        { APMCopterMode::GUIDED,       _guidedFlightMode        },
        { APMCopterMode::LOITER,       _loiterFlightMode        },
        { APMCopterMode::RTL,          _rtlFlightMode           },
        { APMCopterMode::CIRCLE,       _circleFlightMode        },
        { APMCopterMode::LAND,         _landFlightMode          },
        { APMCopterMode::DRIFT,        _driftFlightMode         },
        { APMCopterMode::SPORT,        _sportFlightMode         },
        { APMCopterMode::FLIP,         _flipFlightMode          },
        { APMCopterMode::AUTOTUNE,     _autotuneFlightMode      },
        { APMCopterMode::POS_HOLD,     _posHoldFlightMode       },
        { APMCopterMode::BRAKE,        _brakeFlightMode         },
        { APMCopterMode::THROW,        _throwFlightMode         },
        { APMCopterMode::AVOID_ADSB,   _avoidADSBFlightMode     },
        { APMCopterMode::GUIDED_NOGPS, _guidedNoGPSFlightMode   },
        { APMCopterMode::SMART_RTL,    _smartRtlFlightMode      },
        { APMCopterMode::FLOWHOLD,     _flowHoldFlightMode      },
        { APMCopterMode::FOLLOW,       _followFlightMode        },
        { APMCopterMode::ZIGZAG,       _zigzagFlightMode        },
        { APMCopterMode::SYSTEMID,     _systemIDFlightMode      },
        { APMCopterMode::AUTOROTATE,   _autoRotateFlightMode    },
        { APMCopterMode::AUTO_RTL,     _autoRTLFlightMode       },
        { APMCopterMode::TURTLE,       _turtleFlightMode        },
    });
 
    static FlightModeList availableFlightModes = {
        // Mode Name             , Custom Mode                CanBeSet  adv
        { _stabilizeFlightMode   , APMCopterMode::STABILIZE,     true , true },
        { _acroFlightMode        , APMCopterMode::ACRO,          true , true },
        { _altHoldFlightMode     , APMCopterMode::ALT_HOLD,      true , true },
        { _autoFlightMode        , APMCopterMode::AUTO,          true , true },
        { _guidedFlightMode      , APMCopterMode::GUIDED,        true , true },
        { _loiterFlightMode      , APMCopterMode::LOITER,        true , true },
        { _rtlFlightMode         , APMCopterMode::RTL,           true , true },
        { _circleFlightMode      , APMCopterMode::CIRCLE,        true , true },
        { _landFlightMode        , APMCopterMode::LAND,          true , true },
        { _driftFlightMode       , APMCopterMode::DRIFT,         true , true },
        { _sportFlightMode       , APMCopterMode::SPORT,         true , true },
        { _flipFlightMode        , APMCopterMode::FLIP,          true , true },
        { _autotuneFlightMode    , APMCopterMode::AUTOTUNE,      true , true },
        { _posHoldFlightMode     , APMCopterMode::POS_HOLD,      true , true },
        { _brakeFlightMode       , APMCopterMode::BRAKE,         true , true },
        { _throwFlightMode       , APMCopterMode::THROW,         true , true },
        { _avoidADSBFlightMode   , APMCopterMode::AVOID_ADSB,    true , true },
        { _guidedNoGPSFlightMode , APMCopterMode::GUIDED_NOGPS,  true , true },
        { _smartRtlFlightMode    , APMCopterMode::SMART_RTL,     true , true },
        { _flowHoldFlightMode    , APMCopterMode::FLOWHOLD,      true , true },
        { _followFlightMode      , APMCopterMode::FOLLOW,        true , true },
        { _zigzagFlightMode      , APMCopterMode::ZIGZAG,        true , true },
        { _systemIDFlightMode    , APMCopterMode::SYSTEMID,      true , true },
        { _autoRotateFlightMode  , APMCopterMode::AUTOROTATE,    true , true },
        { _autoRTLFlightMode     , APMCopterMode::AUTO_RTL,      true , true },
        { _turtleFlightMode      , APMCopterMode::TURTLE,        true , true },
    };
    updateAvailableFlightModes(availableFlightModes);
 
    if (!_remapParamNameIntialized) {
        FirmwarePlugin::remapParamNameMap_t &remapV4_0 = _remapParamName[4][0];
 
        remapV4_0["TUNE_MIN"] = QStringLiteral("TUNE_LOW");
        remapV4_0["TUNE_MAX"] = QStringLiteral("TUNE_HIGH");
 
        _remapParamNameIntialized = true;
    }
}
 
ArduCopterFirmwarePlugin::~ArduCopterFirmwarePlugin()
{
 
}
 
int ArduCopterFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
{
    return ((majorVersionNumber == 4) ? 0 : Vehicle::versionNotSetValue);
}
 
bool ArduCopterFirmwarePlugin::multiRotorXConfig(Vehicle *vehicle) const
{
    return (vehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, "FRAME")->rawValue().toInt() != 0);
}
 
QString ArduCopterFirmwarePlugin::pauseFlightMode() const
{
    return _modeEnumToString.value(APMCopterMode::BRAKE, _brakeFlightMode);
}
 
QString ArduCopterFirmwarePlugin::landFlightMode() const
{
    return _modeEnumToString.value(APMCopterMode::LAND, _landFlightMode);
}
 
QString ArduCopterFirmwarePlugin::takeControlFlightMode() const
{
    return _modeEnumToString.value(APMCopterMode::LOITER, _loiterFlightMode);
}
 
QString ArduCopterFirmwarePlugin::followFlightMode() const
{
    return _modeEnumToString.value(APMCopterMode::FOLLOW, _followFlightMode);
}
 
QString ArduCopterFirmwarePlugin::stabilizedFlightMode() const
{
    return _modeEnumToString.value(APMCopterMode::STABILIZE, _stabilizeFlightMode);
}
 
void ArduCopterFirmwarePlugin::updateAvailableFlightModes(FlightModeList &modeList)
{
    for (FirmwareFlightMode &mode: modeList) {
        mode.fixedWing = false;
        mode.multiRotor = true;
    }
 
    _updateFlightModeList(modeList);
 
}
 
uint32_t ArduCopterFirmwarePlugin::_convertToCustomFlightModeEnum(uint32_t val) const
{
    switch (val) {
    case APMCustomMode::AUTO:
        return APMCopterMode::AUTO;
    case APMCustomMode::GUIDED:
        return APMCopterMode::GUIDED;
    case APMCustomMode::RTL:
        return APMCopterMode::RTL;
    case APMCustomMode::SMART_RTL:
        return APMCopterMode::SMART_RTL;
    default:
        return UINT32_MAX;
    }
}