src/lib/MAVLink/ardupilot_protocol.h

   1 //*******************************************************
   2 // Copyright (c) MLRS project
   3 // GPL3
   4 // https://www.gnu.org/licenses/gpl-3.0.de.html
   5 // OlliW @ www.olliw.eu
   6 //*******************************************************
   7 // ArduPilot Protocol Stuff
   8 //*******************************************************
   9 #pragma once
  10 #ifndef ARDUPILOT_PROTOCOL_H
  11 #define ARDUPILOT_PROTOCOL_H
  12
  13
  14 //-------------------------------------------------------
  15 // ArduPilot flight modes
  16 //-------------------------------------------------------
  17
  18 // this we got from ArduCopter/mode.h
  19 typedef enum {
  20     AP_COPTER_FLIGHTMODE_STABILIZE =     0,  // manual airframe angle with manual throttle
  21     AP_COPTER_FLIGHTMODE_ACRO =          1,  // manual body-frame angular rate with manual throttle
  22     AP_COPTER_FLIGHTMODE_ALT_HOLD =      2,  // manual airframe angle with automatic throttle
  23     AP_COPTER_FLIGHTMODE_AUTO =          3,  // fully automatic waypoint control using mission commands
  24     AP_COPTER_FLIGHTMODE_GUIDED =        4,  // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
  25     AP_COPTER_FLIGHTMODE_LOITER =        5,  // automatic horizontal acceleration with automatic throttle
  26     AP_COPTER_FLIGHTMODE_RTL =           6,  // automatic return to launching point
  27     AP_COPTER_FLIGHTMODE_CIRCLE =        7,  // automatic circular flight with automatic throttle
  28     AP_COPTER_FLIGHTMODE_LAND =          9,  // automatic landing with horizontal position control
  29     AP_COPTER_FLIGHTMODE_DRIFT =        11,  // semi-autonomous position, yaw and throttle control
  30     AP_COPTER_FLIGHTMODE_SPORT =        13,  // manual earth-frame angular rate control with manual throttle
  31     AP_COPTER_FLIGHTMODE_FLIP =         14,  // automatically flip the vehicle on the roll axis
  32     AP_COPTER_FLIGHTMODE_AUTOTUNE =     15,  // automatically tune the vehicle's roll and pitch gains
  33     AP_COPTER_FLIGHTMODE_POSHOLD =      16,  // automatic position hold with manual override, with automatic throttle
  34     AP_COPTER_FLIGHTMODE_BRAKE =        17,  // full-brake using inertial/GPS system, no pilot input
  35     AP_COPTER_FLIGHTMODE_THROW =        18,  // throw to launch mode using inertial/GPS system, no pilot input
  36     AP_COPTER_FLIGHTMODE_AVOID_ADSB =   19,  // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
  37     AP_COPTER_FLIGHTMODE_GUIDED_NOGPS = 20,  // guided mode but only accepts attitude and altitude
  38     AP_COPTER_FLIGHTMODE_SMART_RTL =    21,  // SMART_RTL returns to home by retracing its steps
  39     AP_COPTER_FLIGHTMODE_FLOWHOLD  =    22,  // FLOWHOLD holds position with optical flow without rangefinder
  40     AP_COPTER_FLIGHTMODE_FOLLOW    =    23,  // follow attempts to follow another vehicle or ground station
  41     AP_COPTER_FLIGHTMODE_ZIGZAG    =    24,  // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
  42     AP_COPTER_FLIGHTMODE_SYSTEMID  =    25,  // System ID mode produces automated system identification signals in the controllers
  43     AP_COPTER_FLIGHTMODE_AUTOROTATE =   26,  // Autonomous autorotation
  44     AP_COPTER_FLIGHTMODE_AUTO_RTL =     27,  // Auto RTL, this is not a true mode, AUTO will report as this mode if entered to perform a DO_LAND_START Landing sequence
  45     AP_COPTER_FLIGHTMODE_TURTLE =       28,  // Flip over after crash
  46 } AP_COPTER_FLIGHTMODE_ENUM;
  47
  48
  49 // this we got from ArduPlane/mode.h
  50 typedef enum {
  51     AP_PLANE_FLIGHTMODE_MANUAL        = 0,
  52     AP_PLANE_FLIGHTMODE_CIRCLE        = 1,
  53     AP_PLANE_FLIGHTMODE_STABILIZE     = 2,
  54     AP_PLANE_FLIGHTMODE_TRAINING      = 3,
  55     AP_PLANE_FLIGHTMODE_ACRO          = 4,
  56     AP_PLANE_FLIGHTMODE_FLY_BY_WIRE_A = 5,
  57     AP_PLANE_FLIGHTMODE_FLY_BY_WIRE_B = 6,
  58     AP_PLANE_FLIGHTMODE_CRUISE        = 7,
  59     AP_PLANE_FLIGHTMODE_AUTOTUNE      = 8,
  60     AP_PLANE_FLIGHTMODE_AUTO          = 10,
  61     AP_PLANE_FLIGHTMODE_RTL           = 11,
  62     AP_PLANE_FLIGHTMODE_LOITER        = 12,
  63     AP_PLANE_FLIGHTMODE_TAKEOFF       = 13,
  64     AP_PLANE_FLIGHTMODE_AVOID_ADSB    = 14,
  65     AP_PLANE_FLIGHTMODE_GUIDED        = 15,
  66     AP_PLANE_FLIGHTMODE_INITIALISING  = 16,
  67     AP_PLANE_FLIGHTMODE_QSTABILIZE    = 17,
  68     AP_PLANE_FLIGHTMODE_QHOVER        = 18,
  69     AP_PLANE_FLIGHTMODE_QLOITER       = 19,
  70     AP_PLANE_FLIGHTMODE_QLAND         = 20,
  71     AP_PLANE_FLIGHTMODE_QRTL          = 21,
  72     AP_PLANE_FLIGHTMODE_QAUTOTUNE     = 22,
  73     AP_PLANE_FLIGHTMODE_QACRO         = 23,
  74     AP_PLANE_FLIGHTMODE_THERMAL       = 24,
  75     AP_PLANE_FLIGHTMODE_LOITER_ALT_QLAND = 25,
  76 } AP_PLANE_FLIGHTMODE_ENUM;
  77
  78
  79 // this we got from Rover/mode.h
  80 typedef enum {
  81     AP_ROVER_FLIGHTMODE_MANUAL       = 0,
  82     AP_ROVER_FLIGHTMODE_ACRO         = 1,
  83     AP_ROVER_FLIGHTMODE_STEERING     = 3,
  84     AP_ROVER_FLIGHTMODE_HOLD         = 4,
  85     AP_ROVER_FLIGHTMODE_LOITER       = 5,
  86     AP_ROVER_FLIGHTMODE_FOLLOW       = 6,
  87     AP_ROVER_FLIGHTMODE_SIMPLE       = 7,
  88     AP_ROVER_FLIGHTMODE_DOCK         = 8,
  89     AP_ROVER_FLIGHTMODE_AUTO         = 10,
  90     AP_ROVER_FLIGHTMODE_RTL          = 11,
  91     AP_ROVER_FLIGHTMODE_SMART_RTL    = 12,
  92     AP_ROVER_FLIGHTMODE_GUIDED       = 15,
  93     AP_ROVER_FLIGHTMODE_INITIALISING = 16,
  94 } AP_ROVER_FLIGHTMODE_ENUM;
  95
  96
  97 // this we got from ArduSub/defines.h
  98 typedef enum {
  99     AP_SUB_FLIGHTMODE_STABILIZE =     0,  // manual angle with manual depth/throttle
 100     AP_SUB_FLIGHTMODE_ACRO =          1,  // manual body-frame angular rate with manual depth/throttle
 101     AP_SUB_FLIGHTMODE_ALT_HOLD =      2,  // manual angle with automatic depth/throttle
 102     AP_SUB_FLIGHTMODE_AUTO =          3,  // fully automatic waypoint control using mission commands
 103     AP_SUB_FLIGHTMODE_GUIDED =        4,  // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
 104     AP_SUB_FLIGHTMODE_CIRCLE =        7,  // automatic circular flight with automatic throttle
 105     AP_SUB_FLIGHTMODE_SURFACE =       9,  // automatically return to surface, pilot maintains horizontal control
 106     AP_SUB_FLIGHTMODE_POSHOLD =      16,  // automatic position hold with manual override, with automatic throttle
 107     AP_SUB_FLIGHTMODE_MANUAL =       19,  // Pass-through input with no stabilization
 108     AP_SUB_FLIGHTMODE_MOTOR_DETECT = 20   // Automatically detect motors orientation
 109 } AP_SUB_FLIGHTMODE_ENUM;
 110
 111
 112 // these we find in ArduCopter/mode.h
 113 void ap_copter_flight_mode_name4(char* name4, uint8_t flight_mode)
 114 {
 115     switch (flight_mode) {
 116     case AP_COPTER_FLIGHTMODE_STABILIZE:    strcpy(name4, "STAB"); break;
 117     case AP_COPTER_FLIGHTMODE_ACRO:         strcpy(name4, "ACRO"); break;
 118     case AP_COPTER_FLIGHTMODE_ALT_HOLD:     strcpy(name4, "ALTH"); break;
 119     case AP_COPTER_FLIGHTMODE_AUTO:         strcpy(name4, "AUTO"); break; // can be also "ARTL"
 120     case AP_COPTER_FLIGHTMODE_GUIDED:       strcpy(name4, "GUID"); break;
 121     case AP_COPTER_FLIGHTMODE_LOITER:       strcpy(name4, "LOIT"); break;
 122     case AP_COPTER_FLIGHTMODE_RTL:          strcpy(name4, "RTL "); break;
 123     case AP_COPTER_FLIGHTMODE_CIRCLE:       strcpy(name4, "CIRC"); break;
 124     case AP_COPTER_FLIGHTMODE_LAND:         strcpy(name4, "LAND"); break;
 125     case AP_COPTER_FLIGHTMODE_DRIFT:        strcpy(name4, "DRIF"); break;
 126     case AP_COPTER_FLIGHTMODE_SPORT:        strcpy(name4, "SPRT"); break;
 127     case AP_COPTER_FLIGHTMODE_FLIP:         strcpy(name4, "FLIP"); break;
 128     case AP_COPTER_FLIGHTMODE_AUTOTUNE:     strcpy(name4, "ATUN"); break;
 129     case AP_COPTER_FLIGHTMODE_POSHOLD:      strcpy(name4, "PHLD"); break;
 130     case AP_COPTER_FLIGHTMODE_BRAKE:        strcpy(name4, "BRAK"); break;
 131     case AP_COPTER_FLIGHTMODE_THROW:        strcpy(name4, "THRW"); break;
 132     case AP_COPTER_FLIGHTMODE_AVOID_ADSB:   strcpy(name4, "AVOI"); break;
 133     case AP_COPTER_FLIGHTMODE_GUIDED_NOGPS: strcpy(name4, "GNGP"); break;
 134     case AP_COPTER_FLIGHTMODE_SMART_RTL:    strcpy(name4, "SRTL"); break;
 135     case AP_COPTER_FLIGHTMODE_FLOWHOLD:     strcpy(name4, "FHLD"); break;
 136     case AP_COPTER_FLIGHTMODE_FOLLOW:       strcpy(name4, "FOLL"); break;
 137     case AP_COPTER_FLIGHTMODE_ZIGZAG:       strcpy(name4, "ZIGZ"); break;
 138     case AP_COPTER_FLIGHTMODE_SYSTEMID:     strcpy(name4, "SYSI"); break;
 139     case AP_COPTER_FLIGHTMODE_AUTOROTATE:   strcpy(name4, "AROT"); break;
 140     case AP_COPTER_FLIGHTMODE_AUTO_RTL:     strcpy(name4, "ARTL"); break;
 141     case AP_COPTER_FLIGHTMODE_TURTLE:       strcpy(name4, "TRTL"); break;
 142     default:
 143         strcpy(name4, "");
 144     }
 145 }
 146
 147
 148 // these we find in ArduPlane/mode.h
 149 void ap_plane_flight_mode_name4(char* name4, uint8_t flight_mode)
 150 {
 151     switch (flight_mode) {
 152     case AP_PLANE_FLIGHTMODE_MANUAL:        strcpy(name4, "MANU"); break;
 153     case AP_PLANE_FLIGHTMODE_CIRCLE:        strcpy(name4, "CIRC"); break;
 154     case AP_PLANE_FLIGHTMODE_STABILIZE:     strcpy(name4, "STAB"); break;
 155     case AP_PLANE_FLIGHTMODE_TRAINING:      strcpy(name4, "TRAN"); break;
 156     case AP_PLANE_FLIGHTMODE_ACRO:          strcpy(name4, "ACRO"); break;
 157     case AP_PLANE_FLIGHTMODE_FLY_BY_WIRE_A: strcpy(name4, "FBWA"); break;
 158     case AP_PLANE_FLIGHTMODE_FLY_BY_WIRE_B: strcpy(name4, "FBWB"); break;
 159     case AP_PLANE_FLIGHTMODE_CRUISE:        strcpy(name4, "CRUS"); break;
 160     case AP_PLANE_FLIGHTMODE_AUTOTUNE:      strcpy(name4, "ATUN"); break;
 161     case AP_PLANE_FLIGHTMODE_AUTO:          strcpy(name4, "AUTO"); break;
 162     case AP_PLANE_FLIGHTMODE_RTL:           strcpy(name4, "RTL "); break;
 163     case AP_PLANE_FLIGHTMODE_LOITER:        strcpy(name4, "LOIT"); break;
 164     case AP_PLANE_FLIGHTMODE_TAKEOFF:       strcpy(name4, "TKOF"); break;
 165     case AP_PLANE_FLIGHTMODE_AVOID_ADSB:    strcpy(name4, "AVOI"); break;
 166     case AP_PLANE_FLIGHTMODE_GUIDED:        strcpy(name4, "GUID"); break;
 167     case AP_PLANE_FLIGHTMODE_INITIALISING:  strcpy(name4, "INIT"); break;
 168     case AP_PLANE_FLIGHTMODE_QSTABILIZE:    strcpy(name4, "QSTB"); break;
 169     case AP_PLANE_FLIGHTMODE_QHOVER:        strcpy(name4, "QHOV"); break;
 170     case AP_PLANE_FLIGHTMODE_QLOITER:       strcpy(name4, "QLOT"); break;
 171     case AP_PLANE_FLIGHTMODE_QLAND:         strcpy(name4, "QLND"); break;
 172     case AP_PLANE_FLIGHTMODE_QRTL:          strcpy(name4, "QRTL"); break;
 173     case AP_PLANE_FLIGHTMODE_QAUTOTUNE:     strcpy(name4, "QATN"); break;
 174     case AP_PLANE_FLIGHTMODE_QACRO:         strcpy(name4, "QACO"); break;
 175     case AP_PLANE_FLIGHTMODE_THERMAL:       strcpy(name4, "THML"); break;
 176     case AP_PLANE_FLIGHTMODE_LOITER_ALT_QLAND: strcpy(name4, "L2QL"); break;
 177     default:
 178         strcpy(name4, "");
 179     }
 180 }
 181
 182
 183 // these we find in Rover/mode.h
 184 void ap_rover_flight_mode_name4(char* name4, uint8_t flight_mode)
 185 {
 186     switch (flight_mode) {
 187     case AP_ROVER_FLIGHTMODE_MANUAL:        strcpy(name4, "MANU"); break;
 188     case AP_ROVER_FLIGHTMODE_ACRO:          strcpy(name4, "ACRO"); break;
 189     case AP_ROVER_FLIGHTMODE_STEERING:      strcpy(name4, "STER"); break;
 190     case AP_ROVER_FLIGHTMODE_HOLD:          strcpy(name4, "HOLD"); break;
 191     case AP_ROVER_FLIGHTMODE_LOITER:        strcpy(name4, "LOIT"); break;
 192     case AP_ROVER_FLIGHTMODE_FOLLOW:        strcpy(name4, "FOLL"); break;
 193     case AP_ROVER_FLIGHTMODE_SIMPLE:        strcpy(name4, "SMPL"); break;
 194     case AP_ROVER_FLIGHTMODE_DOCK:          strcpy(name4, "DOCK"); break;
 195     case AP_ROVER_FLIGHTMODE_AUTO:          strcpy(name4, "AUTO"); break;
 196     case AP_ROVER_FLIGHTMODE_RTL:           strcpy(name4, "RTL "); break;
 197     case AP_ROVER_FLIGHTMODE_SMART_RTL:     strcpy(name4, "SRTL"); break;
 198     case AP_ROVER_FLIGHTMODE_GUIDED:        strcpy(name4, "GUID"); break;
 199     case AP_ROVER_FLIGHTMODE_INITIALISING:  strcpy(name4, "INIT"); break;
 200     default:
 201         strcpy(name4, "");
 202     }
 203 }
 204
 205
 206 // there are these? made them up myself
 207 void ap_sub_flight_mode_name4(char* name4, uint8_t flight_mode)
 208 {
 209     switch (flight_mode) {
 210     case AP_SUB_FLIGHTMODE_STABILIZE:       strcpy(name4, "STAB"); break;
 211     case AP_SUB_FLIGHTMODE_ACRO:            strcpy(name4, "ACRO"); break;
 212     case AP_SUB_FLIGHTMODE_ALT_HOLD:        strcpy(name4, "AHLD"); break;
 213     case AP_SUB_FLIGHTMODE_AUTO:            strcpy(name4, "AUTO"); break;
 214     case AP_SUB_FLIGHTMODE_GUIDED:          strcpy(name4, "GUID"); break;
 215     case AP_SUB_FLIGHTMODE_CIRCLE:          strcpy(name4, "CIRC"); break;
 216     case AP_SUB_FLIGHTMODE_SURFACE:         strcpy(name4, "SURF"); break; // ?
 217     case AP_SUB_FLIGHTMODE_POSHOLD:         strcpy(name4, "PHLD"); break;
 218     case AP_SUB_FLIGHTMODE_MANUAL:          strcpy(name4, "MANU"); break;
 219     case AP_SUB_FLIGHTMODE_MOTOR_DETECT:    strcpy(name4, "MDET"); break; // ?
 220     default:
 221         strcpy(name4, "");
 222     }
 223 }
 224
 225
 226 //-------------------------------------------------------
 227 // ArduPilot vehicles
 228 //-------------------------------------------------------
 229
 230 typedef enum {
 231     AP_VEHICLE_GENERIC = 0,
 232     AP_VEHICLE_COPTER,
 233     AP_VEHICLE_PLANE,
 234     AP_VEHICLE_ROVER,
 235     AP_VEHICLE_SUB,
 236 } AP_VEHICLE_ENUM;
 237
 238
 239 // this we deduce by searching for MAV_TYPE in ArduPilot code
 240 uint8_t ap_vehicle_from_mavtype(uint8_t mav_type)
 241 {
 242     switch (mav_type) {
 243     case MAV_TYPE_COAXIAL:
 244     case MAV_TYPE_HELICOPTER:
 245     case MAV_TYPE_TRICOPTER:
 246     case MAV_TYPE_QUADROTOR:
 247     case MAV_TYPE_HEXAROTOR:
 248     case MAV_TYPE_OCTOROTOR:
 249     case MAV_TYPE_DECAROTOR:
 250     case MAV_TYPE_DODECAROTOR:
 251         return AP_VEHICLE_COPTER;
 252
 253     case MAV_TYPE_SURFACE_BOAT:
 254     case MAV_TYPE_GROUND_ROVER:
 255         return AP_VEHICLE_ROVER;
 256
 257     case MAV_TYPE_SUBMARINE:
 258         return AP_VEHICLE_SUB;
 259
 260     case MAV_TYPE_GENERIC:
 261         return AP_VEHICLE_GENERIC; // sadly we don't know nothing
 262     }
 263
 264     return AP_VEHICLE_PLANE; // let's guess it's a plane
 265 }
 266
 267
 268 //-------------------------------------------------------
 269 // more
 270 //-------------------------------------------------------
 271
 272 void ap_flight_mode_name4(char* name4, uint8_t vehicle, uint8_t flight_mode)
 273 {
 274     switch (vehicle) {
 275     case AP_VEHICLE_COPTER:
 276         ap_copter_flight_mode_name4(name4, flight_mode);
 277         return;
 278     case AP_VEHICLE_PLANE:
 279         ap_plane_flight_mode_name4(name4, flight_mode);
 280         return;
 281     case AP_VEHICLE_ROVER:
 282         ap_rover_flight_mode_name4(name4, flight_mode);
 283         return;
 284     case AP_VEHICLE_SUB:
 285         ap_sub_flight_mode_name4(name4, flight_mode);
 286         return;
 287     }
 288
 289     strcpy(name4, "");
 290 }
 291
 292 #endif // ARDUPILOT_PROTOCOL_H