fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-16 02:50:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: move get_px4_custom_mode to px4_custom_mode.h

Browse Source
This commit is contained in:
Beat Küng
2022-09-05 08:20:14 +02:00
committed by Daniel Agar
parent 9159f020cb
commit e9387cac1d
4 changed files with 96 additions and 91 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+1
View File
@@ -48,6 +48,7 @@
#include "Arming/ArmAuthorization/ArmAuthorization.h"
#include "commander_helper.h"
#include "esc_calibration.h"
#define DEFINE_GET_PX4_CUSTOM_MODE
#include "px4_custom_mode.h"
#include "state_machine_helper.h"
#include "ModeUtil/control_mode.hpp"
src/modules/commander/px4_custom_mode.h
+94 -3
View File
@@ -37,8 +37,7 @@
*
*/
#ifndef PX4_CUSTOM_MODE_H_
#define PX4_CUSTOM_MODE_H_
#pragma once
#include <stdint.h>
@@ -86,4 +85,96 @@ union px4_custom_mode {
};
};
#endif /* PX4_CUSTOM_MODE_H_ */
#ifdef DEFINE_GET_PX4_CUSTOM_MODE
#include <uORB/topics/vehicle_status.h>
static inline union px4_custom_mode get_px4_custom_mode(uint8_t nav_state)
{
union px4_custom_mode custom_mode;
custom_mode.data = 0;
switch (nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
break;
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
break;
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
break;
case vehicle_status_s::NAVIGATION_STATE_ACRO:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
break;
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
break;
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
break;
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
break;
case vehicle_status_s::NAVIGATION_STATE_STAB:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_STABILIZED;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND;
break;
case vehicle_status_s::NAVIGATION_STATE_ORBIT:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_VTOL_TAKEOFF;
break;
}
return custom_mode;
}
#endif /* DEFINE_GET_PX4_CUSTOM_MODE */
src/modules/mavlink/mavlink_messages.cpp
-88
View File
@@ -229,94 +229,6 @@ static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_315 == static_cast<MAV_SENSOR_OR
static_assert(41 == ROTATION_MAX, "Keep MAV_SENSOR_ROTATION and PX4 Rotation in sync");
union px4_custom_mode get_px4_custom_mode(uint8_t nav_state)
{
union px4_custom_mode custom_mode;
custom_mode.data = 0;
switch (nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
break;
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
break;
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
break;
case vehicle_status_s::NAVIGATION_STATE_ACRO:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
break;
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
break;
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
break;
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
break;
case vehicle_status_s::NAVIGATION_STATE_STAB:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_STABILIZED;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND;
break;
case vehicle_status_s::NAVIGATION_STATE_ORBIT:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_VTOL_TAKEOFF;
break;
}
return custom_mode;
}
static const StreamListItem streams_list[] = {
#if defined(HEARTBEAT_HPP)
create_stream_list_item<MavlinkStreamHeartbeat>(),
src/modules/mavlink/mavlink_messages.h
+1
View File
@@ -43,6 +43,7 @@
#include "mavlink_stream.h"
#define DEFINE_GET_PX4_CUSTOM_MODE
#include <commander/px4_custom_mode.h>
class StreamListItem