Ardupilot mission handling and vehicle type checking #1562
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JonasVautherin
requested changes
Sep 21, 2021
src/core/system_impl.cpp
Outdated
| _ap_mode = to_ap_mode_from_custom_mode<APRoverMode>(heartbeat.custom_mode); | ||
| break; | ||
| default: | ||
| _ap_mode = to_ap_mode_from_custom_mode<APCopterMode>(heartbeat.custom_mode); |
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Suggested change
| _ap_mode = to_ap_mode_from_custom_mode<APCopterMode>(heartbeat.custom_mode); | |
| _ap_mode = to_ap_mode_from_custom_mode<APCopterMode>(heartbeat.custom_mode); | |
| break; |
julianoes
reviewed
Sep 22, 2021
src/core/system_impl.h
Outdated
| Auto_Rotate = 26, | ||
| Auto_RTL = 27, | ||
| Turtle = 28 | ||
| }; |
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What about moving these enums to a separate header file like https://github.com/mavlink/MAVSDK/blob/main/src/core/px4_custom_mode.h?
src/core/system_impl.h
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| @@ -50,6 +50,52 @@ class SystemImpl : public Sender { | |||
| Stabilized, | |||
| }; | |||
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| // Enumeration representing the available modes for the Arudpilot rover autopilot. | |||
| enum class APRoverMode { | |||
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Usually we try the convention to lowercase acronyms like so: ApRoverMode, however, I assume you copied them from somewhere, so then maybe it's better leave em as is.
|
Heya, sorry about the number of changes. Had a chat with Seb and we decided on hiding the ardupilot mode behind flight_mode, so now I translate back and forth from it. |
JonasVautherin
approved these changes
Sep 22, 2021
julianoes
approved these changes
Sep 23, 2021
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Looks good to me.
Any objections @JonasVautherin? Nevermind.
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Adds support to mission_raw to upload, start missions and clear missions when the autopilot is ArduPilot.
Further adds support to grab the vehicle type from the HEARTBEAT message, and to use this to determine what the correct mode command is for a ArduPilot vehicle, since this depends on the type.