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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/simulink/arducopter/functions/ModeConfig.m
Views: 1799
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% This class provides important setting information for the flight modes

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% that have been chosen for the SID process.

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%

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% Fabian Bredemeier - IAV GmbH

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% License: GPL v3

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classdef ModeConfig 

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   properties

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       name = '';

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       mode_num;

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       thr_man;

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       filter_msgs = {};

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   end

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   methods 

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       % Constructor

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       function obj = ModeConfig(mode_num)

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           props = ModeConfig.getModeProps(mode_num);

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           obj.name = props.name;

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           obj.mode_num = mode_num;

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           obj.thr_man = props.thr_man;

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           obj.filter_msgs = props.filter_msgs;

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       end

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       % Function that returns index of mode properties that corresponds to

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       % the mode number

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       function modeIndex = getIndexFromModeNum(obj, modeNum)

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          for i=1:length(obj.names)

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              if (obj.mode_num_list(i) == modeNum)

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                 modeIndex = i;

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                 break;

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              end

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          end

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       end

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       function filter_msgs = get_filter_msgs(obj)

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          filter_msgs = obj.filter_msgs;

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       end

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       function thr_man = get_thr_man(obj)

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          thr_man = obj.thr_man;

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       end

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       function name = get_name(obj)

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          name = obj.name;

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       end

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       % Function to compare properties to another ModeConfig object

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       function identical = compare_to(obj, obj2)

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           % Name

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            if strcmp(obj.name, obj2.get_name()) ~= 1

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                identical = false;

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                return;

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            end

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            % Throttle Man

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            if obj.thr_man ~= obj2.get_thr_man

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                identical = false;

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                return;

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            end

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            % Filter message list

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            if numel(obj.filter_msgs) ~= numel(obj2.get_filter_msgs())

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                identical = false;

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                return;

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            end

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            for i=1:numel(obj.filter_msgs)

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                obj2_filter_msgs = obj2.get_filter_msgs();

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                if strcmp(obj.filter_msgs{i}, obj2_filter_msgs{i}) ~= 1

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                    identical = false;

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                    return;

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                end

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            end

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            identical = true;

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       end

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   end

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   methods (Static)

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       % Function that stores all mode properties

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       function propsStruct = getModeProps(modeNum)

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           % Define basic filter message cell array which is necessary for

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           % only the inner loop or the part that is used in SYSID

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           % respectively. Used for modes whose relevant msgs are not yet

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           % clear.

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           filter_msgs_sysid = {'FMT', 'UNIT', 'FMTU', 'MULT', 'PARM', 'MODE', 'SIDD', ...

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               'SIDS', 'ATT', 'CTRL', 'RATE', 'PIDR', 'PIDP', 'PIDY', 'CTUN', ...

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               'IMU','BAT', 'BARO', 'MOTB'};

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           % Filter message cell array which is necessary to run simulation

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           % in loiter mode

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           filter_msgs_loiter = {'FMT', 'UNIT', 'FMTU', 'MULT', 'PARM', 'MODE', ...

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               'ATT', 'CTRL', 'RATE', 'PIDR', 'PIDP', 'PIDY', 'PIDA', 'CTUN', ...

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               'IMU', 'BAT', 'BARO', 'MOTB', 'PSCD', 'PSCE', 'PSCN', 'RCIN'};

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           % Stabilize

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           filter_msgs_stabilize = {'FMT', 'UNIT', 'FMTU', 'MULT', 'PARM', 'MODE', ...

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               'ATT', 'CTRL', 'RATE', 'PIDR', 'PIDP', 'PIDY', 'PIDA', 'CTUN', ...

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               'IMU', 'BAT', 'BARO', 'MOTB', 'GYR', 'ACC', 'RCIN'};

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           % Acro

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           filter_msgs_acro = {'FMT', 'UNIT', 'FMTU', 'MULT', 'PARM', 'MODE', ...

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               'ATT', 'CTRL', 'RATE', 'PIDR', 'PIDP', 'PIDY', 'PIDA', 'CTUN', ...

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               'IMU', 'BAT', 'BARO', 'MOTB', 'GYR', 'ACC'};

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           % AltHold

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           filter_msgs_althold = {'FMT', 'UNIT', 'FMTU', 'MULT', 'PARM', 'MODE', ...

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               'ATT', 'CTRL', 'RATE', 'PIDR', 'PIDP', 'PIDY', 'PIDA', 'CTUN', ...

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               'IMU', 'BAT', 'BARO', 'MOTB', 'PSCD', 'GYR', 'ACC', 'RCIN'};

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           switch modeNum

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               case 0  % Stabilize

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                   propsStruct.name = 'Stabilize';

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                   propsStruct.thr_man = true;

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                   propsStruct.filter_msgs = filter_msgs_stabilize;

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               case 1 % Acro

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                   propsStruct.name = 'Acro';

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                   propsStruct.thr_man = true;

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                   propsStruct.filter_msgs = filter_msgs_acro;

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               case 2 % Alt_Hold

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                   propsStruct.name = 'Alt_Hold';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_althold;

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               case 3 % Auto

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                   propsStruct.name = 'Auto';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_loiter;

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               case 4 % Guided

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                   propsStruct.name = 'Guided';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_loiter;

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               case 5 % Loiter

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                   propsStruct.name = 'Loiter';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_loiter;

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               case 6 % RTL

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                   propsStruct.name = 'RTL';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 7 % Circle

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                   propsStruct.name = 'Circle';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 9 % Land

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                   propsStruct.name = 'Land';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 11 % Drift

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                   propsStruct.name = 'Drift';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 13 % Sport

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                   propsStruct.name = 'Sport';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 14 % Flip

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                   propsStruct.name = 'Flip';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 15 % Autotune

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                   propsStruct.name = 'Autotune';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_stabilize;

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               case 16 % Poshold

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                   propsStruct.name = 'Poshold';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 17 % Brake

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                   propsStruct.name = 'Brake';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 18 % Throw

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                   propsStruct.name = 'Throw';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 19 % Avoid_ADSB

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                   propsStruct.name = 'Avoid_ADSB';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 20 % Guided_NoGPS

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                   propsStruct.name = 'Guided_NoGPS';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 21 % SmartRTL

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                   propsStruct.name = 'SmartRTL';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 22 % Flowhold

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                   propsStruct.name = 'Flowhold';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 23 % Follow

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                   propsStruct.name = 'Follow';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 24 % Zigzag

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                   propsStruct.name = 'Zigzag';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 25 % Systemid

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                   propsStruct.name = 'Systemid';

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                   propsStruct.thr_man = true;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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               case 26 % Autorotate

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                   propsStruct.name = 'Autorotate';

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                   propsStruct.thr_man = false;

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                   propsStruct.filter_msgs = filter_msgs_sysid;

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           end

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       end

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    end

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end

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