public static List <KeyValuePair <int, string> > getModesList(Firmwares firmware)
{
log.Info("getModesList Called");
if (firmware == Firmwares.PX4)
{
/*
* union px4_custom_mode {
* struct {
* uint16_t reserved;
* uint8_t main_mode;
* uint8_t sub_mode;
* };
* uint32_t data;
* float data_float;
* };
*/
var temp = new List <KeyValuePair <int, string> >()
{
new KeyValuePair <int, string>((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_MANUAL << 16, "Manual"),
new KeyValuePair <int, string>((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_ACRO << 16, "Acro"),
new KeyValuePair <int, string>((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_STABILIZED << 16,
"Stabalized"),
new KeyValuePair <int, string>((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_RATTITUDE << 16,
"Rattitude"),
new KeyValuePair <int, string>((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_ALTCTL << 16,
"Altitude Control"),
new KeyValuePair <int, string>((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_POSCTL << 16,
"Position Control"),
new KeyValuePair <int, string>((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_OFFBOARD << 16,
"Offboard Control"),
new KeyValuePair <int, string>(
((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int)PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_READY << 24, "Auto: Ready"),
new KeyValuePair <int, string>(
((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int)PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF << 24, "Auto: Takeoff"),
new KeyValuePair <int, string>(
((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int)PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_LOITER << 24, "Loiter"),
new KeyValuePair <int, string>(
((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int)PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_MISSION << 24, "Auto"),
new KeyValuePair <int, string>(
((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int)PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_RTL << 24, "RTL"),
new KeyValuePair <int, string>(
((int)PX4_CUSTOM_MAIN_MODE.PX4_CUSTOM_MAIN_MODE_AUTO << 16) +
(int)PX4_CUSTOM_SUB_MODE_AUTO.PX4_CUSTOM_SUB_MODE_AUTO_LAND << 24, "Auto: Landing")
};
return(temp);
}
else if (firmware == Firmwares.ArduPlane)
{
var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1",
firmware.ToString());
flightModes.Add(new KeyValuePair <int, string>(16, "INITIALISING"));
return(flightModes);
}
else if (firmware == Firmwares.Ateryx)
{
var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1",
firmware.ToString()); //same as apm
return(flightModes);
}
else if (firmware == Firmwares.ArduCopter2)
{
var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("FLTMODE1",
firmware.ToString());
return(flightModes);
}
else if (firmware == Firmwares.ArduRover)
{
var flightModes = Utilities.ParameterMetaDataRepository.GetParameterOptionsInt("MODE1",
firmware.ToString());
return(flightModes);
}
else if (firmware == Firmwares.ArduTracker)
{
var temp = new List <KeyValuePair <int, string> >();
temp.Add(new KeyValuePair <int, string>(0, "MANUAL"));
temp.Add(new KeyValuePair <int, string>(1, "STOP"));
temp.Add(new KeyValuePair <int, string>(2, "SCAN"));
temp.Add(new KeyValuePair <int, string>(3, "SERVO_TEST"));
temp.Add(new KeyValuePair <int, string>(10, "AUTO"));
temp.Add(new KeyValuePair <int, string>(16, "INITIALISING"));
return(temp);
}
return(null);
}
public static List <KeyValuePair <int, string> > getModesList(Firmwares firmware)
{
if (firmware == Firmwares.PX4)
{
/*
* union px4_custom_mode {
* struct {
* uint16_t reserved;
* uint8_t main_mode;
* uint8_t sub_mode;
* };
* uint32_t data;
* float data_float;
* };
*/
var temp = new List <KeyValuePair <int, string> >()
{
new KeyValuePair <int, string>((int)PX4CustomModes.Manual << 16, CoreResources.PX4Mode_Manual),
new KeyValuePair <int, string>((int)PX4CustomModes.Acro << 16, CoreResources.PX4Mode_Acro),
new KeyValuePair <int, string>((int)PX4CustomModes.Stablilized << 16, CoreResources.PX4Mode_Stabilized),
new KeyValuePair <int, string>((int)PX4CustomModes.Rattitude << 16, CoreResources.PX4Mode_Stabilized),
new KeyValuePair <int, string>((int)PX4CustomModes.AltCtl << 16, CoreResources.PX4Mode_AltCtl),
new KeyValuePair <int, string>((int)PX4CustomModes.PosCtl << 16, CoreResources.PX4Mode_PoCtl),
new KeyValuePair <int, string>((int)PX4CustomModes.OffBoard << 16, CoreResources.PX4Mode_Offboard),
new KeyValuePair <int, string>(
((int)PX4CustomModes.Auto << 16) +
(int)PX4CustomSubodes.Ready << 24, CoreResources.PX4Mode_AutoReady),
new KeyValuePair <int, string>(
((int)PX4CustomModes.Auto << 16) +
(int)PX4CustomSubodes.Takeoff << 24, CoreResources.PX4Mode_AutoTakeoff),
new KeyValuePair <int, string>(
((int)PX4CustomModes.Auto << 16) +
(int)PX4CustomSubodes.Loiter << 24, CoreResources.PX4Mode_Loiter),
new KeyValuePair <int, string>(
((int)PX4CustomModes.Auto << 16) +
(int)PX4CustomSubodes.Mission << 24, CoreResources.PX4Mode_Mission),
new KeyValuePair <int, string>(
((int)PX4CustomModes.Auto << 16) +
(int)PX4CustomSubodes.RTL << 24, CoreResources.PX4Mode_RTL),
new KeyValuePair <int, string>(
((int)PX4CustomModes.Auto << 16) +
(int)PX4CustomSubodes.Land << 24, CoreResources.PX4Mode_Landing)
};
return(temp);
}
else if (firmware == Firmwares.ArduPlane)
{
var flightModes = Parameters.GetParameterOptionsInt("FLTMODE1",
firmware.ToString());
flightModes.Add(new KeyValuePair <int, string>(16, "INITIALISING"));
flightModes.Add(new KeyValuePair <int, string>(17, "QStabilize"));
flightModes.Add(new KeyValuePair <int, string>(18, "QHover"));
flightModes.Add(new KeyValuePair <int, string>(19, "QLoiter"));
flightModes.Add(new KeyValuePair <int, string>(20, "QLand"));
flightModes.Add(new KeyValuePair <int, string>(21, "QRTL"));
return(flightModes);
}
else if (firmware == Firmwares.Ateryx)
{
var flightModes = Parameters.GetParameterOptionsInt("FLTMODE1", firmware.ToString()); //same as apm
return(flightModes);
}
else if (firmware == Firmwares.ArduCopter2)
{
var flightModes = Parameters.GetParameterOptionsInt("FLTMODE1", firmware.ToString());
return(flightModes);
}
else if (firmware == Firmwares.ArduRover)
{
var flightModes = Parameters.GetParameterOptionsInt("MODE1", firmware.ToString());
return(flightModes);
}
else if (firmware == Firmwares.ArduTracker)
{
var temp = new List <KeyValuePair <int, string> >();
temp.Add(new KeyValuePair <int, string>(0, CoreResources.TrackerMode_Manual));
temp.Add(new KeyValuePair <int, string>(1, CoreResources.TrackerMode_Stop));
temp.Add(new KeyValuePair <int, string>(2, CoreResources.TrackerMode_Scan));
temp.Add(new KeyValuePair <int, string>(3, CoreResources.TrackerMode_ServoTest));
temp.Add(new KeyValuePair <int, string>(10, CoreResources.TrackerMode_Auto));
temp.Add(new KeyValuePair <int, string>(16, CoreResources.TrackerMode_Initializing));
return(temp);
}
return(null);
}
