public static FollowAlgorithm.FollowModes followTypeToMode(
MavLinkDrone drone, FollowType followType) {
final FollowAlgorithm.FollowModes followMode;
switch (followType) {
case ABOVE:
followMode =
(drone.getFirmwareType() == FirmwareType.ARDU_SOLO)
? FollowAlgorithm.FollowModes.SPLINE_ABOVE
: FollowAlgorithm.FollowModes.ABOVE;
break;
case LEAD:
followMode = FollowAlgorithm.FollowModes.LEAD;
break;
default:
case LEASH:
followMode =
(drone.getFirmwareType() == FirmwareType.ARDU_SOLO)
? FollowAlgorithm.FollowModes.SPLINE_LEASH
: FollowAlgorithm.FollowModes.LEASH;
break;
case CIRCLE:
followMode = FollowAlgorithm.FollowModes.CIRCLE;
break;
case LEFT:
followMode = FollowAlgorithm.FollowModes.LEFT;
break;
case RIGHT:
followMode = FollowAlgorithm.FollowModes.RIGHT;
break;
case GUIDED_SCAN:
followMode = FollowAlgorithm.FollowModes.GUIDED_SCAN;
break;
case LOOK_AT_ME:
followMode = FollowAlgorithm.FollowModes.LOOK_AT_ME;
break;
case SOLO_SHOT:
followMode = FollowAlgorithm.FollowModes.SOLO_SHOT;
break;
}
return followMode;
}
