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AP_Vehicle: Add FLTMODE_GCSBLOCK parameter and helper function

This commit is contained in:
Iampete1 2023-06-18 16:30:09 +01:00 committed by Peter Hall
parent 75afe88e47
commit df8aee1567
2 changed files with 91 additions and 0 deletions
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85
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -137,6 +137,71 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
AP_SUBGROUPINFO(kdecan, "KDE_", 19, AP_Vehicle, AP_KDECAN),
#endif
#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_Rover)
// @Param: FLTMODE_GCSBLOCK
// @DisplayName: Flight mode block from GCS
// @Description: Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe.
// @Bitmask{Copter}: 0:Stabilize
// @Bitmask{Copter}: 1:Acro
// @Bitmask{Copter}: 2:AltHold
// @Bitmask{Copter}: 3:Auto
// @Bitmask{Copter}: 4:Guided
// @Bitmask{Copter}: 5:Loiter
// @Bitmask{Copter}: 6:Circle
// @Bitmask{Copter}: 7:Drift
// @Bitmask{Copter}: 8:Sport
// @Bitmask{Copter}: 9:Flip
// @Bitmask{Copter}: 10:AutoTune
// @Bitmask{Copter}: 11:PosHold
// @Bitmask{Copter}: 12:Brake
// @Bitmask{Copter}: 13:Throw
// @Bitmask{Copter}: 14:Avoid_ADSB
// @Bitmask{Copter}: 15:Guided_NoGPS
// @Bitmask{Copter}: 16:Smart_RTL
// @Bitmask{Copter}: 17:FlowHold
// @Bitmask{Copter}: 18:Follow
// @Bitmask{Copter}: 19:ZigZag
// @Bitmask{Copter}: 20:SystemID
// @Bitmask{Copter}: 21:Heli_Autorotate
// @Bitmask{Copter}: 22:Auto RTL
// @Bitmask{Copter}: 23:Turtle
// @Bitmask{Plane}: 0:Manual
// @Bitmask{Plane}: 1:Circle
// @Bitmask{Plane}: 2:Stabilize
// @Bitmask{Plane}: 3:Training
// @Bitmask{Plane}: 4:ACRO
// @Bitmask{Plane}: 5:FBWA
// @Bitmask{Plane}: 6:FBWB
// @Bitmask{Plane}: 7:CRUISE
// @Bitmask{Plane}: 8:AUTOTUNE
// @Bitmask{Plane}: 9:Auto
// @Bitmask{Plane}: 10:Loiter
// @Bitmask{Plane}: 11:Takeoff
// @Bitmask{Plane}: 12:AVOID_ADSB
// @Bitmask{Plane}: 13:Guided
// @Bitmask{Plane}: 14:THERMAL
// @Bitmask{Plane}: 15:QSTABILIZE
// @Bitmask{Plane}: 16:QHOVER
// @Bitmask{Plane}: 17:QLOITER
// @Bitmask{Plane}: 18:QACRO
// @Bitmask{Plane}: 19:QAUTOTUNE
// @Bitmask{Rover}: 0:Manual
// @Bitmask{Rover}: 1:Acro
// @Bitmask{Rover}: 2:Steering
// @Bitmask{Rover}: 3:Loiter
// @Bitmask{Rover}: 4:Follow
// @Bitmask{Rover}: 5:Simple
// @Bitmask{Rover}: 6:Circle
// @Bitmask{Rover}: 7:Auto
// @Bitmask{Rover}: 8:RTL
// @Bitmask{Rover}: 9:SmartRTL
// @Bitmask{Rover}: 10:Guided
// @Bitmask{Rover}: 11:Dock
// @User: Standard
AP_GROUPINFO("FLTMODE_GCSBLOCK", 20, AP_Vehicle, flight_mode_GCS_block, 0),
#endif // APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_Rover)
AP_GROUPEND
};
@ -852,6 +917,26 @@ bool AP_Vehicle::init_dds_client()
}
#endif // AP_DDS_ENABLED
// Check if this mode can be entered from the GCS
#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_Rover)
bool AP_Vehicle::block_GCS_mode_change(uint8_t mode_num, const uint8_t *mode_list, uint8_t mode_list_length) const
{
if (mode_list == nullptr) {
return false;
}
for (uint8_t i = 0; i < mode_list_length; i++) {
// Find index of mode
if (mode_list[i] == mode_num) {
const uint32_t mask = 1U << i;
return (uint32_t(flight_mode_GCS_block) & mask) != 0;
}
}
return false;
}
#endif
AP_Vehicle *AP_Vehicle::_singleton = nullptr;
AP_Vehicle *AP_Vehicle::get_singleton()

6
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -418,6 +418,9 @@ protected:
bool init_dds_client() WARN_IF_UNUSED;
#endif
// Check if this mode can be entered from the GCS
bool block_GCS_mode_change(uint8_t mode_num, const uint8_t *mode_list, uint8_t mode_list_length) const;
private:
// delay() callback that processing MAVLink packets
@ -457,6 +460,9 @@ private:
uint32_t _last_internal_errors; // backup of AP_InternalError::internal_errors bitmask
AP_CustomRotations custom_rotations;
// Bitmask of modes to disable from gcs
AP_Int32 flight_mode_GCS_block;
};
namespace AP {