85 lines
2.2 KiB
C#
85 lines
2.2 KiB
C#
using System;
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namespace Plane.Copters
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{
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#if PRIVATE
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public
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#else
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internal
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#endif
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enum FlightMode
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{
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// 王海，20150608：不可将以下枚举项重命名。
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STABILIZE = 0, // hold level position
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ACRO = 1, // rate control // 王海, 20160205, 特技模式：http://copter.ardupilot.cn/wiki/acro-mode/
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ALT_HOLD = 2, // AUTO control
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AUTO = 3, // AUTO control
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GUIDED = 4, // AUTO control
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LOITER = 5, // Hold a single location
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RTL = 6, // AUTO control
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CIRCLE = 7,
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POSITION = 8, // 王海, 20160205, 位置模式：http://copter.ardupilot.cn/wiki/POSITION-mode/
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LAND = 9, // AUTO control
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OF_LOITER = 10, // 王海, 20160205, 光流悬停模式：http://copter.ardupilot.cn/wiki/loiter-mode/ 底部。
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TOY = 11
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}
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internal static class FightModeExtensions
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{
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public static string GetModeString(this FlightMode flightMode)
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{
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switch (flightMode)
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{
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case FlightMode.ALT_HOLD:
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return "ALT HOLD";
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case FlightMode.POSITION:
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return "POS HOLD";
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default:
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return Enum.GetName(typeof(FlightMode), flightMode);
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}
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}
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public static bool NeedGps(this FlightMode flightMode)
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{
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switch (flightMode)
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{
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case FlightMode.AUTO:
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case FlightMode.GUIDED:
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case FlightMode.LOITER:
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case FlightMode.RTL:
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case FlightMode.CIRCLE:
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case FlightMode.LAND:
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case FlightMode.POSITION:
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default:
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return true;
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case FlightMode.STABILIZE:
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case FlightMode.ACRO:
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case FlightMode.ALT_HOLD:
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case FlightMode.OF_LOITER:
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case FlightMode.TOY:
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return false;
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}
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}
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internal static PlaneCopter.ac2modes ToAC2Mode(this FlightMode flightMode)
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{
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return (PlaneCopter.ac2modes)flightMode;
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}
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}
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}
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