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msp_osd: reuse existing mode name conversion

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This saves a bit of flash, keeps the mode names up to date and
works like expected.
This commit is contained in:
Matthias Grob
2023-12-08 21:34:28 +01:00
parent 8aab3e8013
commit ece60b6165
1 changed files with 2 additions and 76 deletions
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src/drivers/osd/msp_osd/uorb_to_msp.cpp
+2 -76
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@@ -40,6 +40,7 @@
#include <math.h>
#include <matrix/math.hpp>
#include <lib/geo/geo.h>
#include <lib/modes/ui.hpp>
// clock access
#include <px4_platform_common/defines.h>
@@ -77,82 +78,7 @@ msp_name_t construct_display_message(const vehicle_status_s &vehicle_status,
}
// display flight mode
switch (vehicle_status.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
display.set(MessageDisplayType::FLIGHT_MODE, "MANUAL");
break;
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
display.set(MessageDisplayType::FLIGHT_MODE, "ALTCTL");
break;
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
display.set(MessageDisplayType::FLIGHT_MODE, "POSCTL");
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_MISSION");
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_LOITER");
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_RTL");
break;
case vehicle_status_s::NAVIGATION_STATE_ACRO:
display.set(MessageDisplayType::FLIGHT_MODE, "ACRO");
break;
case vehicle_status_s::NAVIGATION_STATE_DESCEND:
display.set(MessageDisplayType::FLIGHT_MODE, "DESCEND");
break;
case vehicle_status_s::NAVIGATION_STATE_TERMINATION:
display.set(MessageDisplayType::FLIGHT_MODE, "TERMINATION");
break;
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
display.set(MessageDisplayType::FLIGHT_MODE, "OFFBOARD");
break;
case vehicle_status_s::NAVIGATION_STATE_STAB:
display.set(MessageDisplayType::FLIGHT_MODE, "STAB");
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_TAKEOFF");
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_LAND");
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_FOLLOW_TARGET");
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_PRECLAND");
break;
case vehicle_status_s::NAVIGATION_STATE_ORBIT:
display.set(MessageDisplayType::FLIGHT_MODE, "ORBIT");
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
display.set(MessageDisplayType::FLIGHT_MODE, "AUTO_VTOL_TAKEOFF");
break;
case vehicle_status_s::NAVIGATION_STATE_MAX:
display.set(MessageDisplayType::FLIGHT_MODE, "MAX");
break;
default:
display.set(MessageDisplayType::FLIGHT_MODE, "???");
}
display.set(MessageDisplayType::FLIGHT_MODE, mode_util::nav_state_names[vehicle_status.nav_state]);
}
// display, if updated