#include <ArduSubFirmwarePlugin.h>

Inheritance diagram for ArduSubFirmwarePlugin:

Collaboration diagram for ArduSubFirmwarePlugin:

Public Member Functions
	ArduSubFirmwarePlugin (QObject *parent=nullptr)

	~ArduSubFirmwarePlugin ()

int	defaultJoystickTXMode () const override

void	initializeStreamRates (Vehicle *vehicle) override

bool	isCapable (const Vehicle *vehicle, FirmwareCapabilities capabilities) const override

bool	supportsThrottleModeCenterZero () const override

bool	supportsNegativeThrust (Vehicle *vehicle) const override

bool	supportsRadio () const override

bool	supportsJSButton () const override

bool	supportsMotorInterference () const override

QString	vehicleImageOpaque (const Vehicle *) const override
	Return the resource file which contains the vehicle icon used in the flight view when the view is dark (Satellite for instance)

QString	vehicleImageOutline (const Vehicle *vehicle) const override
	Return the resource file which contains the vehicle icon used in the flight view when the view is light (Map for instance)

const FirmwarePlugin::remapParamNameMajorVersionMap_t &	paramNameRemapMajorVersionMap () const override

int	remapParamNameHigestMinorVersionNumber (int majorVersionNumber) const override

bool	adjustIncomingMavlinkMessage (Vehicle vehicle, mavlink_message_t message) override

QMap< QString, FactGroup * > *	factGroups () override
	Returns a pointer to a dictionary of firmware-specific FactGroups.

void	adjustMetaData (MAV_TYPE vehicleType, FactMetaData *metaData) override

QString	stabilizedFlightMode () const override
	Returns the flight mode for Stabilized.

QString	motorDetectionFlightMode () const override
	Returns the flight mode for Motor Detection.

void	updateAvailableFlightModes (FlightModeList &modeList) override
	Update Available flight modes recieved from vehicle.

QString	offlineEditingParamFile (Vehicle *vehicle) const override
	Return the resource file which contains the set of params loaded for offline editing.

Public Member Functions inherited from APMFirmwarePlugin
QList< MAV_CMD >	supportedMissionCommands (QGCMAVLink::VehicleClass_t vehicleClass) const override
	List of supported mission commands. Empty list for all commands supported.

AutoPilotPlugin *	autopilotPlugin (Vehicle *vehicle) const override

void	setGuidedMode (Vehicle *vehicle, bool guidedMode) const override
	Set guided flight mode.

void	guidedModeTakeoff (Vehicle *vehicle, double altitudeRel) const override
	Command vehicle to takeoff from current location to the specified height.

bool	guidedModeGotoLocation (Vehicle *vehicle, const QGeoCoordinate &gotoCoord, double forwardFlightLoiterRadius) const override

double	minimumTakeoffAltitudeMeters (Vehicle *vehicle) const override

void	startTakeoff (Vehicle *vehicle) const override
	Command the vehicle to start a takeoff.

void	startMission (Vehicle *vehicle) const override
	Command the vehicle to start the mission.

QStringList	flightModes (Vehicle *vehicle) const override

QString	flightMode (uint8_t base_mode, uint32_t custom_mode) const override

bool	setFlightMode (const QString &flightMode, uint8_t base_mode, uint32_t custom_mode) const override

bool	MAV_CMD_DO_SET_MODE_is_supported () const override
	returns true if this flight stack supports MAV_CMD_DO_SET_MODE

bool	isGuidedMode (const Vehicle *vehicle) const override
	Returns whether the vehicle is in guided mode or not.

QString	gotoFlightMode () const override
	Returns the flight mode which the vehicle will be in if it is performing a goto location.

QString	rtlFlightMode () const override
	Returns the flight mode for RTL.

QString	smartRTLFlightMode () const override
	Returns the flight mode for Smart RTL.

QString	missionFlightMode () const override
	Returns the flight mode for running missions.

virtual QString	guidedFlightMode () const

void	pauseVehicle (Vehicle *vehicle) const override

void	guidedModeRTL (Vehicle *vehicle, bool smartRTL) const override
	Command vehicle to return to launch.

void	guidedModeChangeAltitude (Vehicle *vehicle, double altitudeChange, bool pauseVehicle) override

void	guidedModeChangeHeading (Vehicle *vehicle, const QGeoCoordinate &headingCoord) const override
	Command vehicle to rotate towards specified location.

void	adjustOutgoingMavlinkMessageThreadSafe (Vehicle vehicle, LinkInterface outgoingLink, mavlink_message_t *message) override

void	initializeVehicle (Vehicle *vehicle) override
	Called when Vehicle is first created to perform any firmware specific setup.

bool	sendHomePositionToVehicle () const override

QString	missionCommandOverrides (QGCMAVLink::VehicleClass_t vehicleClass) const override

QString	_internalParameterMetaDataFile (const Vehicle *vehicle) const override

MAV_AUTOPILOT	_autopilotType () const override

ParameterMetaData *	_createParameterMetaData () override

QString	getHobbsMeter (Vehicle *vehicle) const override
	gets hobbs meter from autopilot. This should be reimplmeented for each firmware

bool	hasGripper (const Vehicle *vehicle) const override

const QVariantList &	toolIndicators (const Vehicle *vehicle) override

double	maximumEquivalentAirspeed (Vehicle *vehicle) const override

double	minimumEquivalentAirspeed (Vehicle *vehicle) const override

bool	fixedWingAirSpeedLimitsAvailable (Vehicle *vehicle) const override

void	guidedModeChangeEquivalentAirspeedMetersSecond (Vehicle *vehicle, double airspeed_equiv) const override

void	sendGCSMotionReport (Vehicle *vehicle, const FollowMe::GCSMotionReport &motionReport, uint8_t estimatationCapabilities) const override
	Sends the appropriate mavlink message for follow me support.

QVariant	expandedToolbarIndicatorSource (const Vehicle *vehicle, const QString &indicatorName) const override

bool	mulirotorSpeedLimitsAvailable (Vehicle *vehicle) const override

double	maximumHorizontalSpeedMultirotorMetersSecond (Vehicle *vehicle) const override

void	guidedModeChangeGroundSpeedMetersSecond (Vehicle *vehicle, double speed) const override

Public Member Functions inherited from FirmwarePlugin
	FirmwarePlugin (QObject *parent=nullptr)

virtual	~FirmwarePlugin ()

virtual QString	pauseFlightMode () const
	Returns The flight mode which indicates the vehicle is paused.

virtual bool	supportsSmartRTL () const

virtual QString	landFlightMode () const
	Returns the flight mode for Land.

virtual QString	takeOffFlightMode () const
	Returns the flight mode for TakeOff.

virtual QString	takeControlFlightMode () const
	Returns the flight mode to use when the operator wants to take back control from autonomouse flight.

virtual QString	followFlightMode () const
	Returns the flight mode which the vehicle will be for follow me.

virtual void	guidedModeLand (Vehicle *vehicle) const
	Command vehicle to land at current location.

virtual bool	multiRotorCoaxialMotors (Vehicle *) const

virtual bool	multiRotorXConfig (Vehicle *) const

virtual QGCCameraManager *	createCameraManager (Vehicle *vehicle) const
	Creates vehicle camera manager.

virtual MavlinkCameraControlInterface *	createCameraControl (const mavlink_camera_information_t info, Vehicle vehicle, int compID, QObject *parent=nullptr) const
	Camera control.

virtual void	batteryConsumptionData (Vehicle *vehicle, int &mAhBattery, double &hoverAmps, double &cruiseAmps) const

virtual QString	autoDisarmParameter (Vehicle *) const

virtual bool	hasGimbal (Vehicle *vehicle, bool &rollSupported, bool &pitchSupported, bool &yawSupported) const

virtual uint32_t	highLatencyCustomModeTo32Bits (uint16_t hlCustomMode) const
	Convert from HIGH_LATENCY2.custom_mode value to correct 32 bit value.

virtual void	checkIfIsLatestStable (Vehicle *vehicle) const
	Used to check if running firmware is latest stable version.

int	versionCompare (const Vehicle *vehicle, const QString &compare) const

int	versionCompare (const Vehicle *vehicle, int major, int minor, int patch) const

virtual Autotune *	createAutotune (Vehicle *vehicle) const
	Creates Autotune object.

ParameterMetaData *	loadParameterMetaData (const Vehicle *vehicle)

void	cacheParameterMetaDataFile (const QString &metaDataFile)

Protected Member Functions
uint32_t	_convertToCustomFlightModeEnum (uint32_t val) const override

Protected Member Functions inherited from APMFirmwarePlugin
	APMFirmwarePlugin (QObject *parent=nullptr)
	All access to singleton is through stack specific implementation.

virtual	~APMFirmwarePlugin ()

void	setSupportedModes (QList< APMCustomMode > supportedModes)

Protected Member Functions inherited from FirmwarePlugin
bool	_armVehicleAndValidate (Vehicle *vehicle) const

bool	_setFlightModeAndValidate (Vehicle *vehicle, const QString &flightMode) const

QString	_cachedParameterMetaDataFile (const Vehicle *vehicle) const

virtual void	_versionFileDownloadFinished (const QString &remoteFile, const QString &localFile, const Vehicle *vehicle) const
	Callback to process file with latest release information.

void	_setModeEnumToModeStringMapping (FlightModeCustomModeMap enumToString)

void	_updateFlightModeList (FlightModeList &flightModeList)

void	_addNewFlightMode (FirmwareFlightMode &flightMode)

Protected Attributes
const QString	_manualFlightMode = tr("Manual")

const QString	_stabilizeFlightMode = tr("Stabilize")

const QString	_acroFlightMode = tr("Acro")

const QString	_altHoldFlightMode = tr("Depth Hold")

const QString	_autoFlightMode = tr("Auto")

const QString	_guidedFlightMode = tr("Guided")

const QString	_circleFlightMode = tr("Circle")

const QString	_surfaceFlightMode = tr("Surface")

const QString	_posHoldFlightMode =tr("Position Hold")

const QString	_motorDetectionFlightMode = tr("Motor Detection")

const QString	_surftrakFlightMode = tr("Surftrak")

Protected Attributes inherited from APMFirmwarePlugin
bool	_coaxialMotors = false

const QString	_guidedFlightMode = tr("Guided")

const QString	_rtlFlightMode = tr("RTL")

const QString	_smartRtlFlightMode = tr("Smart RTL")

const QString	_autoFlightMode = tr("Auto")

Protected Attributes inherited from FirmwarePlugin
FlightModeList	_flightModeList

FlightModeCustomModeMap	_modeEnumToString

QVariantList	_toolIndicatorList

QVariantList	_modeIndicatorList

Additional Inherited Members
Public Types inherited from FirmwarePlugin
enum	FirmwareCapabilities { SetFlightModeCapability = 1 << 0 , PauseVehicleCapability = 1 << 1 , GuidedModeCapability = 1 << 2 , OrbitModeCapability = 1 << 3 , TakeoffVehicleCapability = 1 << 4 , ROIModeCapability = 1 << 5 , ChangeHeadingCapability = 1 << 6 , GuidedTakeoffCapability = 1 << 7 }
	Set of optional capabilites which firmware may support. More...

typedef QMap< QString, QString >	remapParamNameMap_t

typedef QMap< int, remapParamNameMap_t >	remapParamNameMinorVersionRemapMap_t

typedef QMap< int, remapParamNameMinorVersionRemapMap_t >	remapParamNameMajorVersionMap_t

Signals inherited from FirmwarePlugin
void	toolIndicatorsChanged ()

Static Public Member Functions inherited from APMFirmwarePlugin
static QPair< QMetaObject::Connection, QMetaObject::Connection >	startCompensatingBaro (Vehicle *vehicle)

static bool	stopCompensatingBaro (const Vehicle *vehicle, QPair< QMetaObject::Connection, QMetaObject::Connection > updaters)

static qreal	calcAltOffsetPT (uint32_t atmospheric1, qreal temperature1, uint32_t atmospheric2, qreal temperature2)

static qreal	calcAltOffsetP (uint32_t atmospheric1, uint32_t atmospheric2)

Detailed Description

Definition at line 73 of file ArduSubFirmwarePlugin.h.

Constructor & Destructor Documentation

◆ ArduSubFirmwarePlugin()

ArduSubFirmwarePlugin::ArduSubFirmwarePlugin ( QObject * parent = nullptr )

explicit

◆ ~ArduSubFirmwarePlugin()

ArduSubFirmwarePlugin::~ArduSubFirmwarePlugin ( )

Definition at line 201 of file ArduSubFirmwarePlugin.cc.

Member Function Documentation

◆ _convertToCustomFlightModeEnum()

uint32_t ArduSubFirmwarePlugin::_convertToCustomFlightModeEnum ( uint32_t val ) const

overrideprotectedvirtual

Reimplemented from FirmwarePlugin.

Definition at line 76 of file ArduSubFirmwarePlugin.cc.

References APMCustomMode::AUTO, APMSubMode::AUTO, APMCustomMode::GUIDED, and APMSubMode::GUIDED.

◆ adjustIncomingMavlinkMessage()

bool ArduSubFirmwarePlugin::adjustIncomingMavlinkMessage	(	Vehicle *	,
		mavlink_message_t *
	)

overridevirtual

Called before any mavlink message is processed by Vehicle such that the firmwre plugin can adjust any message characteristics. This is handy to adjust or differences in mavlink spec implementations such that the base code can remain mavlink generic.

Parameters

vehicle	Vehicle message came from
message[in,out]	Mavlink message to adjust if needed.

Returns: false: skip message, true: process message

Reimplemented from APMFirmwarePlugin.

Definition at line 273 of file ArduSubFirmwarePlugin.cc.

References APMFirmwarePlugin::adjustIncomingMavlinkMessage().

◆ adjustMetaData()

void ArduSubFirmwarePlugin::adjustMetaData	(	MAV_TYPE	,
		FactMetaData *
	)

overridevirtual

Allows the Firmware plugin to override the facts meta data.

Parameters

vehicleType	- Type of current vehicle
metaData	- MetaData for fact

Reimplemented from FirmwarePlugin.

Definition at line 43 of file ArduSubFirmwarePlugin.cc.

References FactMetaData::name(), and FactMetaData::setShortDescription().

◆ defaultJoystickTXMode()

int ArduSubFirmwarePlugin::defaultJoystickTXMode ( ) const

inlineoverridevirtual

Default tx mode to apply to joystick axes TX modes are as outlined here: http://www.rc-airplane-world.com/rc-transmitter-modes.html

Reimplemented from FirmwarePlugin.

Definition at line 81 of file ArduSubFirmwarePlugin.h.

◆ factGroups()

QMap< QString, FactGroup * > * ArduSubFirmwarePlugin::factGroups ( )

overridevirtual

Returns a pointer to a dictionary of firmware-specific FactGroups.

Reimplemented from FirmwarePlugin.

Definition at line 279 of file ArduSubFirmwarePlugin.cc.

◆ initializeStreamRates()

void ArduSubFirmwarePlugin::initializeStreamRates ( Vehicle * vehicle )

overridevirtual

Reimplemented from APMFirmwarePlugin.

Definition at line 211 of file ArduSubFirmwarePlugin.cc.

References Vehicle::requestDataStream().

◆ isCapable()

bool ArduSubFirmwarePlugin::isCapable	(	const Vehicle *	,
		FirmwareCapabilities
	)		const

overridevirtual

Returns: true: Firmware supports all specified capabilites

Reimplemented from APMFirmwarePlugin.

Definition at line 222 of file ArduSubFirmwarePlugin.cc.

References FirmwarePlugin::GuidedModeCapability, FirmwarePlugin::PauseVehicleCapability, and FirmwarePlugin::SetFlightModeCapability.

◆ motorDetectionFlightMode()

QString ArduSubFirmwarePlugin::motorDetectionFlightMode ( ) const

overridevirtual

Returns the flight mode for Motor Detection.

Reimplemented from FirmwarePlugin.

Definition at line 61 of file ArduSubFirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, _motorDetectionFlightMode, and APMSubMode::MOTORDETECTION.

◆ offlineEditingParamFile()

QString ArduSubFirmwarePlugin::offlineEditingParamFile ( Vehicle * ) const

inlineoverridevirtual

Return the resource file which contains the set of params loaded for offline editing.

Reimplemented from FirmwarePlugin.

Definition at line 106 of file ArduSubFirmwarePlugin.h.

◆ paramNameRemapMajorVersionMap()

const FirmwarePlugin::remapParamNameMajorVersionMap_t & ArduSubFirmwarePlugin::paramNameRemapMajorVersionMap ( void ) const

inlineoverridevirtual

Returns the mapping structure which is used to map from one parameter name to another based on firmware version. See remapParamNameMap_t for details on how remapping works.

Reimplemented from FirmwarePlugin.

Definition at line 96 of file ArduSubFirmwarePlugin.h.

◆ remapParamNameHigestMinorVersionNumber()

int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber ( int ) const

overridevirtual

Returns the highest minor version number that has remap entries for the specified major version. The remap logic iterates backwards from this version down to the vehicle's actual minor version. Return VehicleTypes::versionNotSetValue if remapping is not supported for the given major version.

Reimplemented from FirmwarePlugin.

Definition at line 206 of file ArduSubFirmwarePlugin.cc.

References VehicleTypes::versionNotSetValue.

◆ stabilizedFlightMode()

QString ArduSubFirmwarePlugin::stabilizedFlightMode ( void ) const

overridevirtual

Returns the flight mode for Stabilized.

Reimplemented from FirmwarePlugin.

Definition at line 56 of file ArduSubFirmwarePlugin.cc.

References FirmwarePlugin::_modeEnumToString, _stabilizeFlightMode, and APMSubMode::STABILIZE.

◆ supportsJSButton()

bool ArduSubFirmwarePlugin::supportsJSButton ( ) const

inlineoverridevirtual

Returns true if the firmware supports the AP_JSButton library, which allows joystick buttons to be assigned via parameters in firmware. Default is false.

Reimplemented from FirmwarePlugin.

Definition at line 87 of file ArduSubFirmwarePlugin.h.

◆ supportsMotorInterference()

bool ArduSubFirmwarePlugin::supportsMotorInterference ( ) const

inlineoverridevirtual

Returns true if the firmware supports calibrating motor interference offsets for the compass (CompassMot). Default is true.

Reimplemented from FirmwarePlugin.

Definition at line 88 of file ArduSubFirmwarePlugin.h.

◆ supportsNegativeThrust()

bool ArduSubFirmwarePlugin::supportsNegativeThrust ( Vehicle * ) const

inlineoverridevirtual

Returns true if the vehicle and firmware supports the use of negative thrust Typically supported rover.

Reimplemented from FirmwarePlugin.

Definition at line 85 of file ArduSubFirmwarePlugin.h.

◆ supportsRadio()

bool ArduSubFirmwarePlugin::supportsRadio ( ) const

inlineoverridevirtual

Returns true if the firmware supports the use of the RC radio and requires the RC radio setup page. Returns true by default.

Reimplemented from FirmwarePlugin.

Definition at line 86 of file ArduSubFirmwarePlugin.h.

◆ supportsThrottleModeCenterZero()

bool ArduSubFirmwarePlugin::supportsThrottleModeCenterZero ( ) const

inlineoverridevirtual

Returns true if the vehicle and firmware supports the use of a throttle joystick that is zero when centered. Typically not supported on vehicles that have bidirectional throttle.

Reimplemented from FirmwarePlugin.

Definition at line 84 of file ArduSubFirmwarePlugin.h.

◆ updateAvailableFlightModes()

void ArduSubFirmwarePlugin::updateAvailableFlightModes ( FlightModeList & flightModeList )

overridevirtual

Update Available flight modes recieved from vehicle.

Reimplemented from FirmwarePlugin.

Definition at line 66 of file ArduSubFirmwarePlugin.cc.

References FirmwarePlugin::_updateFlightModeList().

Referenced by ArduSubFirmwarePlugin().

◆ vehicleImageOpaque()

QString ArduSubFirmwarePlugin::vehicleImageOpaque ( const Vehicle * ) const

inlineoverridevirtual

Return the resource file which contains the vehicle icon used in the flight view when the view is dark (Satellite for instance)

Reimplemented from FirmwarePlugin.

Definition at line 91 of file ArduSubFirmwarePlugin.h.

Referenced by vehicleImageOutline().

◆ vehicleImageOutline()

QString ArduSubFirmwarePlugin::vehicleImageOutline ( const Vehicle * vehicle ) const

overridevirtual

Return the resource file which contains the vehicle icon used in the flight view when the view is light (Map for instance)

Reimplemented from FirmwarePlugin.

Definition at line 38 of file ArduSubFirmwarePlugin.cc.

References vehicleImageOpaque().

Member Data Documentation

◆ _acroFlightMode

const QString ArduSubFirmwarePlugin::_acroFlightMode = tr("Acro")

protected

Definition at line 113 of file ArduSubFirmwarePlugin.h.

Referenced by ArduSubFirmwarePlugin().

◆ _altHoldFlightMode

const QString ArduSubFirmwarePlugin::_altHoldFlightMode = tr("Depth Hold")

protected

Definition at line 114 of file ArduSubFirmwarePlugin.h.

Referenced by ArduSubFirmwarePlugin().

◆ _autoFlightMode

const QString ArduSubFirmwarePlugin::_autoFlightMode = tr("Auto")

protected

Definition at line 115 of file ArduSubFirmwarePlugin.h.

Referenced by ArduSubFirmwarePlugin().

◆ _circleFlightMode

const QString ArduSubFirmwarePlugin::_circleFlightMode = tr("Circle")

protected

Definition at line 117 of file ArduSubFirmwarePlugin.h.

Referenced by ArduSubFirmwarePlugin().

◆ _guidedFlightMode

const QString ArduSubFirmwarePlugin::_guidedFlightMode = tr("Guided")

protected

Definition at line 116 of file ArduSubFirmwarePlugin.h.

Referenced by ArduSubFirmwarePlugin().

◆ _manualFlightMode

const QString ArduSubFirmwarePlugin::_manualFlightMode = tr("Manual")

protected

Definition at line 111 of file ArduSubFirmwarePlugin.h.

Referenced by ArduSubFirmwarePlugin().

◆ _motorDetectionFlightMode

const QString ArduSubFirmwarePlugin::_motorDetectionFlightMode = tr("Motor Detection")

protected

Definition at line 120 of file ArduSubFirmwarePlugin.h.

Referenced by ArduSubFirmwarePlugin(), and motorDetectionFlightMode().

◆ _posHoldFlightMode

const QString ArduSubFirmwarePlugin::_posHoldFlightMode =tr("Position Hold")

protected

Definition at line 119 of file ArduSubFirmwarePlugin.h.

Referenced by ArduSubFirmwarePlugin().

◆ _stabilizeFlightMode

const QString ArduSubFirmwarePlugin::_stabilizeFlightMode = tr("Stabilize")

protected

Definition at line 112 of file ArduSubFirmwarePlugin.h.

Referenced by ArduSubFirmwarePlugin(), and stabilizedFlightMode().

◆ _surfaceFlightMode

const QString ArduSubFirmwarePlugin::_surfaceFlightMode = tr("Surface")

protected

Definition at line 118 of file ArduSubFirmwarePlugin.h.

Referenced by ArduSubFirmwarePlugin().

◆ _surftrakFlightMode

const QString ArduSubFirmwarePlugin::_surftrakFlightMode = tr("Surftrak")

protected

Definition at line 121 of file ArduSubFirmwarePlugin.h.

Referenced by ArduSubFirmwarePlugin().

The documentation for this class was generated from the following files:

src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ArduSubFirmwarePlugin()

◆ ~ArduSubFirmwarePlugin()

Member Function Documentation

◆ _convertToCustomFlightModeEnum()

◆ adjustIncomingMavlinkMessage()

◆ adjustMetaData()

◆ defaultJoystickTXMode()

◆ factGroups()

◆ initializeStreamRates()

◆ isCapable()

◆ motorDetectionFlightMode()

◆ offlineEditingParamFile()

◆ paramNameRemapMajorVersionMap()

◆ remapParamNameHigestMinorVersionNumber()

◆ stabilizedFlightMode()

◆ supportsJSButton()

◆ supportsMotorInterference()

◆ supportsNegativeThrust()

◆ supportsRadio()

◆ supportsThrottleModeCenterZero()

◆ updateAvailableFlightModes()

◆ vehicleImageOpaque()

◆ vehicleImageOutline()

Member Data Documentation

◆ _acroFlightMode

◆ _altHoldFlightMode

◆ _autoFlightMode

◆ _circleFlightMode

◆ _guidedFlightMode

◆ _manualFlightMode

◆ _motorDetectionFlightMode

◆ _posHoldFlightMode

◆ _stabilizeFlightMode

◆ _surfaceFlightMode

◆ _surftrakFlightMode