vtol_status.hpp

/****************************************************************************
 * Copyright (c) 2023-2024 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <px4_msgs/msg/vtol_vehicle_status.hpp>
#include <px4_ros2/common/context.hpp>
#include <px4_ros2/utils/subscription.hpp>
#include <px4_ros2/utils/message_version.hpp>
 
namespace px4_ros2
{
class VtolStatus : public Subscription<px4_msgs::msg::VtolVehicleStatus>
{
public:
  explicit VtolStatus(Context & context)
  : Subscription<px4_msgs::msg::VtolVehicleStatus>(context,
      "fmu/out/vtol_vehicle_status" +
      px4_ros2::getMessageNameVersion<px4_msgs::msg::VtolVehicleStatus>()) {}
 
  bool isUndefined() const
  {
    return last().vehicle_vtol_state ==
           px4_msgs::msg::VtolVehicleStatus::VEHICLE_VTOL_STATE_UNDEFINED;
  }
 
  bool isTransitioningToFw() const
  {
    return last().vehicle_vtol_state ==
           px4_msgs::msg::VtolVehicleStatus::VEHICLE_VTOL_STATE_TRANSITION_TO_FW;
  }
 
  bool isTransitioningToMc() const
  {
    return last().vehicle_vtol_state ==
           px4_msgs::msg::VtolVehicleStatus::VEHICLE_VTOL_STATE_TRANSITION_TO_MC;
  }
 
  bool isMcMode() const
  {
    return last().vehicle_vtol_state == px4_msgs::msg::VtolVehicleStatus::VEHICLE_VTOL_STATE_MC;
  }
 
  bool isFwMode() const
  {
    return last().vehicle_vtol_state == px4_msgs::msg::VtolVehicleStatus::VEHICLE_VTOL_STATE_FW;
  }
 
};
 
} /* namespace px4_ros2 */