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Rover: send flight mode string to Notify

This commit is contained in:
Randy Mackay 2017-01-20 19:16:12 +09:00 committed by Lucas De Marchi
parent fad2ba608f
commit 0b8ebe36dd
2 changed files with 39 additions and 0 deletions
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1
APMrover2/Rover.h
View File

@ -522,6 +522,7 @@ private:
void print_hit_enter();
void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
void notify_mode(enum mode new_mode);
bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd);
bool verify_command_callback(const AP_Mission::Mission_Command& cmd);

38
APMrover2/system.cpp
View File

@ -325,6 +325,8 @@ void Rover::set_mode(enum mode mode)
if (should_log(MASK_LOG_MODE)) {
DataFlash.Log_Write_Mode(control_mode);
}
notify_mode(control_mode);
}
/*
@ -459,6 +461,42 @@ void Rover::print_mode(AP_HAL::BetterStream *port, uint8_t mode)
}
}
// update notify with mode change
void Rover::notify_mode(enum mode new_mode)
{
notify.flags.flight_mode = new_mode;
switch (new_mode) {
case MANUAL:
notify.set_flight_mode_str("MANU");
break;
case LEARNING:
notify.set_flight_mode_str("LERN");
break;
case STEERING:
notify.set_flight_mode_str("STER");
break;
case HOLD:
notify.set_flight_mode_str("HOLD");
break;
case AUTO:
notify.set_flight_mode_str("AUTO");
break;
case RTL:
notify.set_flight_mode_str("RTL");
break;
case GUIDED:
notify.set_flight_mode_str("GUID");
break;
case INITIALISING:
notify.set_flight_mode_str("INIT");
break;
default:
notify.set_flight_mode_str("----");
break;
}
}
/*
check a digitial pin for high,low (1/0)
*/