ArduRoverFirmwarePlugin.h

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#pragma once
 
#include "APMFirmwarePlugin.h"
 
struct APMRoverMode
{
    enum Mode : uint32_t{
        MANUAL          = 0,
        ACRO            = 1,
        LEARNING        = 2, // Deprecated
        STEERING        = 3,
        HOLD            = 4,
        LOITER          = 5,
        FOLLOW          = 6,
        SIMPLE          = 7,
        DOCK            = 8,
        CIRCLE          = 9,
        AUTO            = 10,
        RTL             = 11,
        SMART_RTL       = 12,
        GUIDED          = 15,
        INITIALIZING    = 16
    };
};
 
class ArduRoverFirmwarePlugin : public APMFirmwarePlugin
{
    Q_OBJECT
 
public:
    explicit ArduRoverFirmwarePlugin(QObject *parent = nullptr);
    ~ArduRoverFirmwarePlugin();
 
    void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange, bool pauseVehicle) override;
    int remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const override;
    const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap() const override { return _remapParamName; }
    bool supportsNegativeThrust(Vehicle*) const override { return true; }
    bool supportsSmartRTL() const override { return true; }
    QString offlineEditingParamFile(Vehicle *vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Rover.OfflineEditing.params"); }
 
    QString pauseFlightMode() const override;
    QString followFlightMode() const override;
    QString stabilizedFlightMode() const override;
    void updateAvailableFlightModes(FlightModeList &modeList) override;
 
protected:
    uint32_t _convertToCustomFlightModeEnum(uint32_t val) const override;
 
    const QString _manualFlightMode = tr("Manual");
    const QString _acroFlightMode = tr("Acro");
    const QString _learningFlightMode = tr("Learning");
    const QString _steeringFlightMode = tr("Steering");
    const QString _holdFlightMode = tr("Hold");
    const QString _loiterFlightMode = tr("Loiter");
    const QString _followFlightMode = tr("Follow");
    const QString _simpleFlightMode = tr("Simple");
    const QString _dockFlightMode = tr("Dock");
    const QString _circleFlightMode = tr("Circle");
    const QString _autoFlightMode = tr("Auto");
    const QString _rtlFlightMode = tr("RTL");
    const QString _smartRtlFlightMode = tr("Smart RTL");
    const QString _guidedFlightMode = tr("Guided");
    const QString _initializingFlightMode = tr("Initializing");
 
private:
    static bool _remapParamNameIntialized;
    static FirmwarePlugin::remapParamNameMajorVersionMap_t _remapParamName;
};