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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-23 23:03:59 +0200 |
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| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-23 23:03:59 +0200 |
| commit | 5e9b508ea0ec799ab6f8723d114c999beffc347e (patch) | |
| tree | 635d8c3256b8079ac83819fad4e48dca1e7e195e /src/modules/commander/px4_custom_mode.h | |
| parent | 330908225e5fcb1731df20e740dbfe403a7b30b9 (diff) | |
| download | px4-firmware-5e9b508ea0ec799ab6f8723d114c999beffc347e.tar.gz px4-firmware-5e9b508ea0ec799ab6f8723d114c999beffc347e.tar.bz2 px4-firmware-5e9b508ea0ec799ab6f8723d114c999beffc347e.zip | |
Indicate AUTO submodes in mavlink custom_mode.
Diffstat (limited to 'src/modules/commander/px4_custom_mode.h')
| -rw-r--r-- | src/modules/commander/px4_custom_mode.h | 29 |
1 files changed, 24 insertions, 5 deletions
diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index 4d4859a5c..b60a7e0b9 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -8,11 +8,30 @@ #ifndef PX4_CUSTOM_MODE_H_ #define PX4_CUSTOM_MODE_H_ -enum PX4_CUSTOM_MODE { - PX4_CUSTOM_MODE_MANUAL = 1, - PX4_CUSTOM_MODE_SEATBELT, - PX4_CUSTOM_MODE_EASY, - PX4_CUSTOM_MODE_AUTO, +enum PX4_CUSTOM_MAIN_MODE { + PX4_CUSTOM_MAIN_MODE_MANUAL = 1, + PX4_CUSTOM_MAIN_MODE_SEATBELT, + PX4_CUSTOM_MAIN_MODE_EASY, + PX4_CUSTOM_MAIN_MODE_AUTO, +}; + +enum PX4_CUSTOM_SUB_MODE_AUTO { + PX4_CUSTOM_SUB_MODE_AUTO_READY = 1, + PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF, + PX4_CUSTOM_SUB_MODE_AUTO_LOITER, + PX4_CUSTOM_SUB_MODE_AUTO_MISSION, + PX4_CUSTOM_SUB_MODE_AUTO_RTL, + PX4_CUSTOM_SUB_MODE_AUTO_LAND, +}; + +union px4_custom_mode { + struct { + uint16_t reserved; + uint8_t main_mode; + uint8_t sub_mode; + }; + uint32_t data; + float data_float; }; #endif /* PX4_CUSTOM_MODE_H_ */ |