PX4 Firmware
PX4 Autopilot Software http://px4.io
px4_custom_mode.h
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/****************************************************************************
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*
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* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4_custom_mode.h
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* PX4 custom flight modes
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*
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*/
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#ifndef PX4_CUSTOM_MODE_H_
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#define PX4_CUSTOM_MODE_H_
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#include <stdint.h>
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enum
PX4_CUSTOM_MAIN_MODE
{
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PX4_CUSTOM_MAIN_MODE_MANUAL
= 1,
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PX4_CUSTOM_MAIN_MODE_ALTCTL
,
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PX4_CUSTOM_MAIN_MODE_POSCTL
,
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PX4_CUSTOM_MAIN_MODE_AUTO
,
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PX4_CUSTOM_MAIN_MODE_ACRO
,
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PX4_CUSTOM_MAIN_MODE_OFFBOARD
,
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PX4_CUSTOM_MAIN_MODE_STABILIZED
,
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PX4_CUSTOM_MAIN_MODE_RATTITUDE
,
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PX4_CUSTOM_MAIN_MODE_SIMPLE
/* unused, but reserved for future use */
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};
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enum
PX4_CUSTOM_SUB_MODE_AUTO
{
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PX4_CUSTOM_SUB_MODE_AUTO_READY
= 1,
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PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF
,
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PX4_CUSTOM_SUB_MODE_AUTO_LOITER
,
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PX4_CUSTOM_SUB_MODE_AUTO_MISSION
,
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PX4_CUSTOM_SUB_MODE_AUTO_RTL
,
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PX4_CUSTOM_SUB_MODE_AUTO_LAND
,
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PX4_CUSTOM_SUB_MODE_AUTO_RTGS
,
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PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET
,
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PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND
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};
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enum
PX4_CUSTOM_SUB_MODE_POSCTL
{
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PX4_CUSTOM_SUB_MODE_POSCTL_POSCTL
= 0,
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PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT
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};
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union
px4_custom_mode
{
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struct
{
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uint16_t
reserved
;
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uint8_t
main_mode
;
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uint8_t
sub_mode
;
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};
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uint32_t
data
;
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float
data_float
;
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struct
{
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uint16_t
reserved_hl
;
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uint16_t
custom_mode_hl
;
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};
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};
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#endif
/* PX4_CUSTOM_MODE_H_ */
px4_custom_mode::data
uint32_t data
Definition:
px4_custom_mode.h:80
PX4_CUSTOM_MAIN_MODE_OFFBOARD
Definition:
px4_custom_mode.h:51
PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF
Definition:
px4_custom_mode.h:59
PX4_CUSTOM_MAIN_MODE_MANUAL
Definition:
px4_custom_mode.h:46
PX4_CUSTOM_SUB_MODE_AUTO_MISSION
Definition:
px4_custom_mode.h:61
px4_custom_mode::reserved
uint16_t reserved
Definition:
px4_custom_mode.h:76
PX4_CUSTOM_SUB_MODE_POSCTL
PX4_CUSTOM_SUB_MODE_POSCTL
Definition:
px4_custom_mode.h:69
PX4_CUSTOM_MAIN_MODE_POSCTL
Definition:
px4_custom_mode.h:48
px4_custom_mode::custom_mode_hl
uint16_t custom_mode_hl
Definition:
px4_custom_mode.h:84
px4_custom_mode
Definition:
px4_custom_mode.h:74
PX4_CUSTOM_MAIN_MODE_SIMPLE
Definition:
px4_custom_mode.h:54
px4_custom_mode::sub_mode
uint8_t sub_mode
Definition:
px4_custom_mode.h:78
PX4_CUSTOM_SUB_MODE_AUTO_RTL
Definition:
px4_custom_mode.h:62
PX4_CUSTOM_MAIN_MODE
PX4_CUSTOM_MAIN_MODE
Definition:
px4_custom_mode.h:45
px4_custom_mode::reserved_hl
uint16_t reserved_hl
Definition:
px4_custom_mode.h:83
PX4_CUSTOM_SUB_MODE_POSCTL_POSCTL
Definition:
px4_custom_mode.h:70
PX4_CUSTOM_SUB_MODE_AUTO_LOITER
Definition:
px4_custom_mode.h:60
PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET
Definition:
px4_custom_mode.h:65
PX4_CUSTOM_SUB_MODE_AUTO_LAND
Definition:
px4_custom_mode.h:63
PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT
Definition:
px4_custom_mode.h:71
px4_custom_mode::data_float
float data_float
Definition:
px4_custom_mode.h:81
PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND
Definition:
px4_custom_mode.h:66
PX4_CUSTOM_SUB_MODE_AUTO_READY
Definition:
px4_custom_mode.h:58
PX4_CUSTOM_MAIN_MODE_RATTITUDE
Definition:
px4_custom_mode.h:53
PX4_CUSTOM_MAIN_MODE_ALTCTL
Definition:
px4_custom_mode.h:47
PX4_CUSTOM_MAIN_MODE_STABILIZED
Definition:
px4_custom_mode.h:52
PX4_CUSTOM_SUB_MODE_AUTO
PX4_CUSTOM_SUB_MODE_AUTO
Definition:
px4_custom_mode.h:57
PX4_CUSTOM_MAIN_MODE_ACRO
Definition:
px4_custom_mode.h:50
PX4_CUSTOM_MAIN_MODE_AUTO
Definition:
px4_custom_mode.h:49
PX4_CUSTOM_SUB_MODE_AUTO_RTGS
Definition:
px4_custom_mode.h:64
px4_custom_mode::main_mode
uint8_t main_mode
Definition:
px4_custom_mode.h:77
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px4_custom_mode.h
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