uas_stringify.cpp File Reference

#include <array>
#include <unordered_map>
#include <stdexcept>
#include <mavros/mavros_uas.h>
#include <mavros/px4_custom_mode.h>

Include dependency graph for uas_stringify.cpp:

Go to the source code of this file.

Typedefs
typedef std::unordered_map< uint32_t, const std::string >	cmode_map

Functions
static bool	cmode_find_cmap (const cmode_map &cmap, std::string &cmode_str, uint32_t &cmode)
static bool	is_apm_copter (UAS::MAV_TYPE type)
static std::string	str_base_mode (int base_mode)
static std::string	str_custom_mode (uint32_t custom_mode)
static std::string	str_mode_cmap (const cmode_map &cmap, uint32_t custom_mode)
static std::string	str_mode_px4 (uint32_t custom_mode_int)

Variables
static const cmode_map	apmrover2_cmode_map
static const cmode_map	arducopter_cmode_map
static const cmode_map	arduplane_cmode_map
static const cmode_map	ardusub_cmode_map
static const cmode_map	px4_cmode_map
	PX4 custom mode -> string. More...

Typedef Documentation

typedef std::unordered_map<uint32_t, const std::string> cmode_map

Definition at line 26 of file uas_stringify.cpp.

Function Documentation

static bool cmode_find_cmap ( const cmode_map &  cmap, std::string &  cmode_str, uint32_t &  cmode  )

static

Todo:

parse CMODE(dec)

Definition at line 219 of file uas_stringify.cpp.

static bool is_apm_copter ( UAS::MAV_TYPE  type )

inlinestatic

Definition at line 176 of file uas_stringify.cpp.

static std::string str_base_mode ( int  base_mode )

inlinestatic

Definition at line 144 of file uas_stringify.cpp.

static std::string str_custom_mode ( uint32_t  custom_mode )

static

Definition at line 148 of file uas_stringify.cpp.

static std::string str_mode_cmap ( const cmode_map &  cmap, uint32_t  custom_mode  )

static

Definition at line 152 of file uas_stringify.cpp.

static std::string str_mode_px4 ( uint32_t  custom_mode_int )

inlinestatic

Definition at line 161 of file uas_stringify.cpp.

Variable Documentation

const cmode_map apmrover2_cmode_map

static

Initial value:

{{
        { 0, "MANUAL" },
        { 2, "LEARNING" },
        { 3, "STEERING" },
        { 4, "HOLD" },
        { 10, "AUTO" },
        { 11, "RTL" },
        { 15, "GUIDED" },
        { 16, "INITIALISING" }
}}

APM:Rover custom mode -> string

APMrover2/defines.h

Definition at line 86 of file uas_stringify.cpp.

const cmode_map arducopter_cmode_map

static

Initial value:

{{
        { 0, "STABILIZE" },
        { 1, "ACRO" },
        { 2, "ALT_HOLD" },
        { 3, "AUTO" },
        { 4, "GUIDED" },
        { 5, "LOITER" },
        { 6, "RTL" },
        { 7, "CIRCLE" },
        { 8, "POSITION" },      
        { 9, "LAND" },
        { 10, "OF_LOITER" },
        { 11, "DRIFT" },        
        { 13, "SPORT" },
        { 14, "FLIP" },
        { 15, "AUTOTUNE" },
        { 16, "POSHOLD" },
        { 17, "BRAKE" },
        { 18, "THROW" },
        { 19, "AVOID_ADSB" },
        { 20, "GUIDED_NOGPS" }
}}

APM:Copter custom mode -> string

ArduCopter/defines.h

Definition at line 59 of file uas_stringify.cpp.

const cmode_map arduplane_cmode_map

static

Initial value:

{{
        { 0, "MANUAL" },
        { 1, "CIRCLE" },
        { 2, "STABILIZE" },
        { 3, "TRAINING" },
        { 4, "ACRO" },
        { 5, "FBWA" },
        { 6, "FBWB" },
        { 7, "CRUISE" },
        { 8, "AUTOTUNE" },
        { 10, "AUTO" },
        { 11, "RTL" },
        { 12, "LOITER" },
        { 14, "LAND" },         
        { 15, "GUIDED" },
        { 16, "INITIALISING" },
        { 17, "QSTABILIZE" },   
        { 18, "QHOVER" },
        { 19, "QLOITER" },
        { 20, "QLAND" },
        { 21, "QRTL" }
}}

APM:Plane custom mode -> string

ArduPlane/defines.h

Definition at line 32 of file uas_stringify.cpp.

const cmode_map ardusub_cmode_map

static

Initial value:

{{
        { 0, "STABILIZE" },
        { 1, "ACRO" },
        { 2, "ALT_HOLD" },
        { 3, "AUTO" },          
        { 4, "GUIDED" },        
        { 5, "VELHOLD" },
        { 6, "RTL" },           
        { 7, "CIRCLE" },        
        { 9, "SURFACE" },
        { 10, "OF_LOITER" },    
        { 11, "DRIFT" },        
        { 13, "TRANSECT" },
        { 14, "FLIP" },         
        { 15, "AUTOTUNE" },     
        { 16, "POSHOLD" },
        { 17, "BRAKE" },        
        { 18, "THROW" },
        { 19, "MANUAL" }
}}

ArduSub custom mode -> string

Note

Modes marked n/a is not implemented (defines.h comments)

ArduSub/defines.h

Definition at line 103 of file uas_stringify.cpp.

const cmode_map px4_cmode_map

static

Initial value:

{{
        { px4::define_mode(px4::custom_mode::MAIN_MODE_MANUAL),           "MANUAL" },
        { px4::define_mode(px4::custom_mode::MAIN_MODE_ACRO),             "ACRO" },
        { px4::define_mode(px4::custom_mode::MAIN_MODE_ALTCTL),           "ALTCTL" },
        { px4::define_mode(px4::custom_mode::MAIN_MODE_POSCTL),           "POSCTL" },
        { px4::define_mode(px4::custom_mode::MAIN_MODE_OFFBOARD),         "OFFBOARD" },
        { px4::define_mode(px4::custom_mode::MAIN_MODE_STABILIZED),       "STABILIZED" },
        { px4::define_mode(px4::custom_mode::MAIN_MODE_RATTITUDE),        "RATTITUDE" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_MISSION), "AUTO.MISSION" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_LOITER),  "AUTO.LOITER" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_RTL),     "AUTO.RTL" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_LAND),    "AUTO.LAND" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_RTGS),    "AUTO.RTGS" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_READY),   "AUTO.READY" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_TAKEOFF), "AUTO.TAKEOFF" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_FOLLOW_TARGET), "AUTO.FOLLOW_TARGET" },
        { px4::define_mode_auto(px4::custom_mode::SUB_MODE_AUTO_PRECLAND), "AUTO.PRECLAND" },
}}

PX4 custom mode -> string.

Definition at line 125 of file uas_stringify.cpp.