fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-27 13:10:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander+mavlink: implement MAVLink standard modes

Browse Source
This commit is contained in:
Beat Küng
2023-07-12 11:06:51 +02:00
parent b46e1d744b
commit bb900264e0
14 changed files with 593 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/modes/standard_modes.hpp
+97
View File
@@ -0,0 +1,97 @@
/****************************************************************************
*
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <uORB/topics/vehicle_status.h>
#include <stdint.h>
namespace mode_util
{
// This matches the definition from MAVLink MAV_STANDARD_MODE
enum class StandardMode : uint8_t {
NON_STANDARD = 0,
POSITION_HOLD = 1,
ORBIT = 2,
CRUISE = 3,
ALTITUDE_HOLD = 4,
RETURN_HOME = 5,
SAFE_RECOVERY = 6,
MISSION = 7,
LAND = 8,
TAKEOFF = 9,
};
/**
* @return Get MAVLink standard mode from nav_state
*/
static inline StandardMode getStandardModeFromNavState(uint8_t nav_state)
{
switch (nav_state) {
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: return StandardMode::RETURN_HOME;
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: return StandardMode::MISSION;
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
}
return StandardMode::NON_STANDARD;
}
/**
* @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)
{
switch (mode) {
case StandardMode::RETURN_HOME: return vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
case StandardMode::MISSION: return vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
case StandardMode::LAND: return vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
case StandardMode::TAKEOFF: return vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF;
default: break;
}
return vehicle_status_s::NAVIGATION_STATE_MAX;
}
} // namespace mode_util
src/lib/modes/ui.hpp
+102
View File
@@ -0,0 +1,102 @@
/****************************************************************************
*
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <uORB/topics/vehicle_status.h>
#include <stdint.h>
namespace mode_util
{
/**
* @return Bitmask with all valid modes
*/
static inline uint32_t getValidNavStates()
{
return (1u << vehicle_status_s::NAVIGATION_STATE_MANUAL) |
(1u << vehicle_status_s::NAVIGATION_STATE_ALTCTL) |
(1u << vehicle_status_s::NAVIGATION_STATE_POSCTL) |
(1u << vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) |
(1u << vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) |
(1u << vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) |
(1u << vehicle_status_s::NAVIGATION_STATE_ACRO) |
(1u << vehicle_status_s::NAVIGATION_STATE_TERMINATION) |
(1u << vehicle_status_s::NAVIGATION_STATE_OFFBOARD) |
(1u << vehicle_status_s::NAVIGATION_STATE_STAB) |
(1u << vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF) |
(1u << vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) |
(1u << vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET) |
(1u << vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND) |
(1u << vehicle_status_s::NAVIGATION_STATE_ORBIT) |
(1u << vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF);
static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 31, "code requires update");
}
const char *const nav_state_names[vehicle_status_s::NAVIGATION_STATE_MAX] = {
"Manual",
"Altitude",
"Position",
"Mission",
"Hold",
"Return",
"6: unallocated",
"7: unallocated",
"8: unallocated",
"9: unallocated",
"Acro",
"11: UNUSED",
"Descend",
"Termination",
"Offboard",
"Stabilized",
"16: UNUSED2",
"Takeoff",
"Land",
"Follow Target",
"Precision Landing",
"Orbit",
"VTOL Takeoff",
"External 1",
"External 2",
"External 3",
"External 4",
"External 5",
"External 6",
"External 7",
"External 8",
};
} // namespace mode_util