mirror of
https://github.com/OpenSolo/OpenSolo.git
synced 2025-04-29 22:24:32 +02:00
d24199b26e
Several new flight modes were added to ArduCopter since the Solo was created. This patch adds - Throw mode - ADS-B Avoidance (not a user mode) - Guided w/ no GPS - Smart RTL
47 lines
1.1 KiB
Python
Executable File
47 lines
1.1 KiB
Python
Executable File
#!/usr/bin/env python
|
|
|
|
# mode names - These are what Artoo displays
|
|
|
|
MODE_NAMES = {
|
|
-1 : "None\0",
|
|
0 : 'Stabilize\0',
|
|
1 : 'Acro\0',
|
|
2 : 'FLY: Manual\0',
|
|
3 : 'Autonomous\0',
|
|
4 : 'Takeoff\0',
|
|
5 : 'FLY\0',
|
|
6 : 'Return Home\0',
|
|
7 : 'Circle\0',
|
|
8 : 'Position\0',
|
|
9 : 'Land\0',
|
|
10 : 'OF_LOITER\0',
|
|
11 : 'Drift\0',
|
|
13 : 'Sport\0',
|
|
14 : 'Flip\0',
|
|
15 : 'Auto-tune\0',
|
|
16 : 'Position Hold\0',
|
|
17 : 'Brake\0',
|
|
18 : 'Throw\0',
|
|
19 : 'ADS-B AVOID\0',
|
|
20 : 'GUIDED NO GPS\0',
|
|
21 : 'SMART RTL\0',
|
|
}
|
|
|
|
# DroneKit uses APM's mode names. Here is a helper function to
|
|
# go from DroneKit's name to APM mode index
|
|
def getAPMModeIndexFromName( modeName, vehicle ):
|
|
# most of these names are in pymavlink's mode mapping.
|
|
# But not all!
|
|
# Here we handle cases that aren't
|
|
# if it's a mode that's not in mavlink's mapping, it's formatted
|
|
# like Mode(12)
|
|
if "Mode(" in modeName:
|
|
try:
|
|
return int(modeName[5:-1])
|
|
except:
|
|
return -1
|
|
elif modeName in vehicle._mode_mapping:
|
|
return vehicle._mode_mapping[modeName]
|
|
else:
|
|
return -1
|