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standard_modes: add vehicle-type specific standard modes

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See https://mavlink.io/en/messages/development.html#MAV_STANDARD_MODE.
The only standard mode that is not set is MAV_STANDARD_MODE_SAFE_RECOVERY,
as PX4 uses RTL for that (with configuration parameters).
This commit is contained in:
Beat Küng
2024-12-18 07:12:36 +01:00
parent 90b968ba4e
commit aca5a70964
4 changed files with 68 additions and 6 deletions
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src/lib/modes/standard_modes.hpp
+62 -3
View File
@@ -57,7 +57,7 @@ enum class StandardMode : uint8_t {
/**
* @return Get MAVLink standard mode from nav_state
*/
static inline StandardMode getStandardModeFromNavState(uint8_t nav_state)
static inline StandardMode getStandardModeFromNavState(uint8_t nav_state, uint8_t vehicle_type, bool is_vtol)
{
switch (nav_state) {
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: return StandardMode::RETURN_HOME;
@@ -67,7 +67,33 @@ static inline StandardMode getStandardModeFromNavState(uint8_t nav_state)
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: return StandardMode::LAND;
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: return StandardMode::TAKEOFF;
// Note: all other standard modes do not directly map, or are vehicle-type specific
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
if (is_vtol || vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
|| vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return StandardMode::ALTITUDE_HOLD;
}
break;
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
if (!is_vtol && vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
return StandardMode::POSITION_HOLD;
}
if (!is_vtol && vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return StandardMode::CRUISE;
}
break;
case vehicle_status_s::NAVIGATION_STATE_ORBIT:
if (is_vtol || vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
|| vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return StandardMode::ORBIT;
}
break;
}
return StandardMode::NON_STANDARD;
@@ -76,7 +102,7 @@ static inline StandardMode getStandardModeFromNavState(uint8_t nav_state)
/**
* @return Get nav_state from a standard mode, or vehicle_status_s::NAVIGATION_STATE_MAX if not supported
*/
static inline uint8_t getNavStateFromStandardMode(StandardMode mode)
static inline uint8_t getNavStateFromStandardMode(StandardMode mode, uint8_t vehicle_type, bool is_vtol)
{
switch (mode) {
case StandardMode::RETURN_HOME: return vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
@@ -87,6 +113,39 @@ static inline uint8_t getNavStateFromStandardMode(StandardMode mode)
case StandardMode::TAKEOFF: return vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF;
case StandardMode::ALTITUDE_HOLD:
if (is_vtol || vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
|| vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return vehicle_status_s::NAVIGATION_STATE_ALTCTL;
}
break;
case StandardMode::POSITION_HOLD:
if (!is_vtol && vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
return vehicle_status_s::NAVIGATION_STATE_POSCTL;
}
break;
case StandardMode::CRUISE:
if (!is_vtol && vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return vehicle_status_s::NAVIGATION_STATE_POSCTL;
}
break;
case StandardMode::ORBIT:
if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
return vehicle_status_s::NAVIGATION_STATE_ORBIT;
}
if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
}
break;
default: break;
}