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mavlink: move get_px4_custom_mode to px4_custom_mode.h

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This commit is contained in:
Beat Küng
2022-10-11 22:31:20 -04:00
committed by Daniel Agar
parent 9159f020cb
commit e9387cac1d
4 changed files with 96 additions and 91 deletions
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src/modules/mavlink/mavlink_messages.cpp
-88
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@@ -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>(),