Sub: add support for AVAILABLE_MODES msg

ArduPilot · Nov 10, 2024 · f5862c9 · f5862c9
1 parent e9688ca
commit f5862c9
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Showing 3 changed files with 65 additions and 1 deletion.
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
@@ -437,7 +437,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #endif
 };
 static const ap_message STREAM_PARAMS_msgs[] = {
-    MSG_NEXT_PARAM
+    MSG_NEXT_PARAM,
+    MSG_AVAILABLE_MODES
 };
 
 const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
@@ -962,3 +963,47 @@ uint8_t GCS_MAVLINK_Sub::high_latency_tgt_airspeed() const
     return 0;
 }
 #endif // HAL_HIGH_LATENCY2_ENABLED
+
+// Send the mode with the given index (not mode number!) return the total number of modes
+// Index starts at 1
+uint8_t GCS_MAVLINK_Sub::send_available_mode(uint8_t index) const
+{
+    const Mode* modes[] {
+        &sub.mode_manual,
+        &sub.mode_stabilize,
+        &sub.mode_acro,
+        &sub.mode_althold,
+        &sub.mode_surftrak,
+        &sub.mode_poshold,
+        &sub.mode_auto,
+        &sub.mode_guided,
+        &sub.mode_circle,
+        &sub.mode_surface,
+        &sub.mode_motordetect,
+    };
+
+    const uint8_t mode_count = ARRAY_SIZE(modes);
+
+    // Convert to zero indexed
+    const uint8_t index_zero = index - 1;
+    if (index_zero >= mode_count) {
+        // Mode does not exist!?
+        return mode_count;
+    }
+
+    // Ask the mode for its name and number
+    const char* name = modes[index_zero]->name();
+    const uint8_t mode_number = (uint8_t)modes[index_zero]->number();
+
+    mavlink_msg_available_modes_send(
+        chan,
+        mode_count,
+        index,
+        MAV_STANDARD_MODE::MAV_STANDARD_MODE_NON_STANDARD,
+        mode_number,
+        0, // MAV_MODE_PROPERTY bitmask
+        name
+    );
+
+    return mode_count;
+}
diff --git a/ArduSub/GCS_Mavlink.h b/ArduSub/GCS_Mavlink.h
@@ -37,6 +37,10 @@ class GCS_MAVLINK_Sub : public GCS_MAVLINK {
 
     uint64_t capabilities() const override;
 
+    // Send the mode with the given index (not mode number!) return the total number of modes
+    // Index starts at 1
+    uint8_t send_available_mode(uint8_t index) const override;
+
 private:
 
     void handle_message(const mavlink_message_t &msg) override;

diff --git a/ArduSub/mode.h b/ArduSub/mode.h
@@ -72,6 +72,9 @@ class Mode
     virtual const char *name() const = 0;
     virtual const char *name4() const = 0;
 
+    // returns a unique number specific to this mode
+    virtual Mode::Number number() const = 0;
+
     // functions for reporting to GCS
     virtual bool get_wp(Location &loc) { return false; }
     virtual int32_t wp_bearing() const { return 0; }
@@ -202,6 +205,7 @@ class ModeManual : public Mode
 
     const char *name() const override { return "MANUAL"; }
     const char *name4() const override { return "MANU"; }
+    Mode::Number number() const override { return Mode::Number::MANUAL; }
 };
 
 
@@ -224,6 +228,7 @@ class ModeAcro : public Mode
 
     const char *name() const override { return "ACRO"; }
     const char *name4() const override { return "ACRO"; }
+    Mode::Number number() const override { return Mode::Number::ACRO; }
 };
 
 
@@ -246,6 +251,7 @@ class ModeStabilize : public Mode
 
     const char *name() const override { return "STABILIZE"; }
     const char *name4() const override { return "STAB"; }
+    Mode::Number number() const override { return Mode::Number::STABILIZE; }
 };
 
 
@@ -272,6 +278,7 @@ class ModeAlthold : public Mode
 
     const char *name() const override { return "ALT_HOLD"; }
     const char *name4() const override { return "ALTH"; }
+    Mode::Number number() const override { return Mode::Number::ALT_HOLD; }
 };
 
 
@@ -293,6 +300,7 @@ class ModeSurftrak : public ModeAlthold
 
     const char *name() const override { return "SURFTRAK"; }
     const char *name4() const override { return "STRK"; }
+    Mode::Number number() const override { return Mode::Number::SURFTRAK; }
 
 private:
 
@@ -342,6 +350,8 @@ class ModeGuided : public Mode
 
     const char *name() const override { return "GUIDED"; }
     const char *name4() const override { return "GUID"; }
+    Mode::Number number() const override { return Mode::Number::GUIDED; }
+
     autopilot_yaw_mode get_default_auto_yaw_mode(bool rtl) const;
 
 private:
@@ -387,6 +397,7 @@ class ModeAuto : public ModeGuided
 
     const char *name() const override { return "AUTO"; }
     const char *name4() const override { return "AUTO"; }
+    Mode::Number number() const override { return Mode::Number::AUTO; }
 
 private:
     void auto_wp_run();
@@ -417,6 +428,7 @@ class ModePoshold : public ModeAlthold
 
     const char *name() const override { return "POSHOLD"; }
     const char *name4() const override { return "POSH"; }
+    Mode::Number number() const override { return Mode::Number::POSHOLD; }
 };
 
 
@@ -439,6 +451,7 @@ class ModeCircle : public Mode
 
     const char *name() const override { return "CIRCLE"; }
     const char *name4() const override { return "CIRC"; }
+    Mode::Number number() const override { return Mode::Number::CIRCLE; }
 };
 
 class ModeSurface : public Mode
@@ -460,6 +473,7 @@ class ModeSurface : public Mode
 
     const char *name() const override { return "SURFACE"; }
     const char *name4() const override { return "SURF"; }
+    Mode::Number number() const override { return Mode::Number::CIRCLE; }
 };
 
 
@@ -482,4 +496,5 @@ class ModeMotordetect : public Mode
 
     const char *name() const override { return "MOTORDETECT"; }
     const char *name4() const override { return "DETE"; }
+    Mode::Number number() const override { return Mode::Number::MOTOR_DETECT; }
 };