Public Types
enum	custom_mode_list_t { CUSTOM_BASE_MODE = 0, CUST_CRITICAL_CLIMB_TO_SAFE_ALT = 1, CUST_CRITICAL_FLY_TO_HOME_WP = 2, CUST_CRITICAL_LAND = 4, CUST_DESCENT_TO_SMALL_ALTITUDE = 8, CUST_DESCENT_TO_GND = 16, CUST_COLLISION_AVOIDANCE = 32, CUST_BATTERY_LOW = 64, CUST_FENCE_1 = 128, CUST_FENCE_2 = 256, CUST_HEARTBEAT_LOST = 512, CUST_REMOTE_LOST = 1024, CUST_GPS_BAD = 2048 }
enum	ctrl_mode_t { RATE = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, ATTITUDE = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED + MAV_MODE_FLAG_STABILIZE_ENABLED, VELOCITY = MAV_MODE_FLAG_MANUAL_INPUT_ENABLED + MAV_MODE_FLAG_STABILIZE_ENABLED + MAV_MODE_FLAG_GUIDED_ENABLED, POSITION_HOLD = MAV_MODE_FLAG_STABILIZE_ENABLED + MAV_MODE_FLAG_GUIDED_ENABLED, AUTO = MAV_MODE_FLAG_STABILIZE_ENABLED + MAV_MODE_FLAG_GUIDED_ENABLED + MAV_MODE_FLAG_AUTO_ENABLED }
typedef uint8_t	mode_bits_t
typedef uint8_t	bitmask_t
typedef uint32_t	custom_mode_t
Public Member Functions
	Mav_mode (const mode_bits_t &bits)
	Mav_mode (const Mav_mode &mav_mode)
mode_bits_t	bits () const
	returns the mode as mode_bits (uint8_t)
const uint8_t *	bits_ptr () const
	returns a pointer to bits_ where each bit represents a flag
bool	is_armed () const
	returns whether armed (MAV_MODE_FLAG_SAFETY_ARMED set)
bool	is_manual () const
	returns whether in manual mode (MAV_MODE_FLAG_MANUAL_INPUT_ENABLED set)
bool	is_hil () const
	returns whether in HIL mode (MAV_MODE_FLAG_HIL_ENABLED set)
bool	is_stabilize () const
	returns whether in stabilize mode (MAV_MODE_FLAG_STABILIZE_ENABLED set)
bool	is_guided () const
	returns whether in guided mode (MAV_MODE_FLAG_GUIDED_ENABLED set)
bool	is_auto () const
	returns whether in auto mode (MAV_MODE_FLAG_AUTO_ENABLED set)
bool	is_test () const
	returns whether in test mode (MAV_MODE_FLAG_TEST_ENABLED set)
bool	is_custom () const
	returns whether custom mode enabled (MAV_MODE_FLAG_CUSTOM_MODE_ENABLED set)
ctrl_mode_t	ctrl_mode () const
	returns the ctrl_mode (defined by manual, stabilize, guided and auto flag)
void	set_armed_flag (bool value)
	set armed flag
void	set_manual_flag (bool value)
	set manual flag
void	set_hil_flag (bool value)
	set HIL flag (Hardware in the loop)
void	set_stabilize_flag (bool value)
	set stabilize flag
void	set_guided_flag (bool value)
	set guided flag
void	set_auto_flag (bool value)
	set auto flag
void	set_test_flag (bool value)
	set test flag
void	set_custom_flag (bool value)
	set custom_mode flag
void	set_ctrl_mode (ctrl_mode_t ctrl_mode)
	set ctrl_mode (RATE, ATTITUDE, VELOCITY, POSITION_HOLD, AUTO);
bool	operator== (const Mav_mode &mav_mode) const
	operator overload for == (calls this.equal(mav_mode) )
Static Public Attributes
static const bitmask_t	CTRL_MODE_BITFIELD = 0b01011100

Member Enumeration Documentation

enum Mav_mode::custom_mode_list_t

Enumerator:

CUST_CRITICAL_CLIMB_TO_SAFE_ALT	First critical behavior.
CUST_CRITICAL_FLY_TO_HOME_WP	Second critical behavior, comes after CLIMB_TO_SAFE_ALT.
CUST_CRITICAL_LAND	Third critical behavior, comes after FLY_TO_HOME_WP.
CUST_DESCENT_TO_SMALL_ALTITUDE	First auto landing behavior.
CUST_DESCENT_TO_GND	Second auto landing behavior, comes after DESCENT_TO_SMAL_ALTITUDE.
CUST_COLLISION_AVOIDANCE	Collision avoidance.
CUST_BATTERY_LOW	Battery low flag.
CUST_FENCE_1	Fence 1 violation flag.
CUST_FENCE_2	Fence 2 violation flag.
CUST_HEARTBEAT_LOST	Heartbeat loss flag.
CUST_REMOTE_LOST	Remote lost flag.
CUST_GPS_BAD	GPS loss flag.

Member Function Documentation

mode_bits_t Mav_mode::bits ( ) const [inline]

returns the mode as mode_bits (uint8_t)

Returns:: bits of mode

const uint8_t* Mav_mode::bits_ptr ( ) const [inline]

returns a pointer to bits_ where each bit represents a flag

this function is temporary as long as data logging is using pointers

Returns:: pointer to bits

ctrl_mode_t Mav_mode::ctrl_mode ( ) const [inline]

returns the ctrl_mode (defined by manual, stabilize, guided and auto flag)

Returns:: ctrl_mode

Here is the caller graph for this function:

bool Mav_mode::is_armed ( ) const [inline]

returns whether armed (MAV_MODE_FLAG_SAFETY_ARMED set)

Returns:: MAV_MODE_FLAG_SAFETY_ARMED

Here is the caller graph for this function:

bool Mav_mode::is_auto ( ) const [inline]

returns whether in auto mode (MAV_MODE_FLAG_AUTO_ENABLED set)

Returns:: MAV_MODE_FLAG_AUTO_ENABLED

Here is the caller graph for this function:

bool Mav_mode::is_custom ( ) const [inline]

returns whether custom mode enabled (MAV_MODE_FLAG_CUSTOM_MODE_ENABLED set)

Returns:: MAV_MODE_FLAG_CUSTOM_MODE_ENABLED

Here is the caller graph for this function:

bool Mav_mode::is_guided ( ) const [inline]

returns whether in guided mode (MAV_MODE_FLAG_GUIDED_ENABLED set)

Returns:: MAV_MODE_FLAG_GUIDED_ENABLED

Here is the caller graph for this function:

bool Mav_mode::is_hil ( ) const [inline]

returns whether in HIL mode (MAV_MODE_FLAG_HIL_ENABLED set)

Returns:: MAV_MODE_FLAG_HIL_ENABLED

Here is the caller graph for this function:

bool Mav_mode::is_manual ( ) const [inline]

returns whether in manual mode (MAV_MODE_FLAG_MANUAL_INPUT_ENABLED set)

Returns:: MAV_MODE_FLAG_MANUAL_INPUT_ENABLED

Here is the caller graph for this function:

bool Mav_mode::is_stabilize ( ) const [inline]

returns whether in stabilize mode (MAV_MODE_FLAG_STABILIZE_ENABLED set)

Returns:: MAV_MODE_FLAG_STABILIZE_ENABLED

Here is the caller graph for this function:

bool Mav_mode::is_test ( ) const [inline]

returns whether in test mode (MAV_MODE_FLAG_TEST_ENABLED set)

Returns:: MAV_MODE_FLAG_TEST_ENABLED

Here is the caller graph for this function:

bool Mav_mode::operator== ( const Mav_mode & mav_mode ) const [inline]

operator overload for == (calls this.equal(mav_mode) )

Returns:: true if equal, else false

void Mav_mode::set_armed_flag ( bool value ) [inline]

set armed flag

Parameters:

value true for arming, false for disarming

Here is the caller graph for this function:

void Mav_mode::set_auto_flag ( bool value ) [inline]

set auto flag

Parameters:

value true for passing to auto, false for not auto

void Mav_mode::set_ctrl_mode ( ctrl_mode_t ctrl_mode ) [inline]

set ctrl_mode (RATE, ATTITUDE, VELOCITY, POSITION_HOLD, AUTO);

affects only manual, stabilize, guided and auto flag

Here is the caller graph for this function:

void Mav_mode::set_custom_flag ( bool value ) [inline]

set custom_mode flag

Parameters:

value true for passing to test, false for not test

void Mav_mode::set_guided_flag ( bool value ) [inline]

set guided flag

Parameters:

value true for passing to guided, false for not guided

void Mav_mode::set_hil_flag ( bool value ) [inline]

set HIL flag (Hardware in the loop)

Parameters:

value true for passing to HIL, false for not HIL

Here is the caller graph for this function:

void Mav_mode::set_manual_flag ( bool value ) [inline]

set manual flag

Parameters:

value true for passing to manual, false for not manual

void Mav_mode::set_stabilize_flag ( bool value ) [inline]

set stabilize flag

Parameters:

value true for passing to stabilize, false for not stabilize

void Mav_mode::set_test_flag ( bool value ) [inline]

set test flag

Parameters:

value true for passing to test, false for not test

The documentation for this class was generated from the following file:

/home/travis/build/lis-epfl/MAVRIC_Library/status/mav_modes.hpp

Public Types

Public Member Functions

Static Public Attributes

Member Enumeration Documentation

Member Function Documentation