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Add new mode AUTO_PRECLAND

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This commit is contained in:
Oleg Kalachev
2018-04-11 14:50:07 -04:00
committed by Kabir Mohammed
parent f02ef20a23
commit 1b1617b5a0
3 changed files with 11 additions and 1 deletions
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src/modules/commander/commander.cpp
+3
View File
@@ -729,6 +729,9 @@ Commander::handle_command(vehicle_status_s *status_local,
case PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:
main_ret = main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET, status_flags, &internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND:
main_ret = main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_PRECLAND, status_flags, &internal_state);
break;
default:
main_ret = TRANSITION_DENIED;
src/modules/commander/px4_custom_mode.h
+2 -1
View File
@@ -62,7 +62,8 @@ enum PX4_CUSTOM_SUB_MODE_AUTO {
PX4_CUSTOM_SUB_MODE_AUTO_RTL,
PX4_CUSTOM_SUB_MODE_AUTO_LAND,
PX4_CUSTOM_SUB_MODE_AUTO_RTGS,
PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET
PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET,
PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND
};
union px4_custom_mode {
src/modules/mavlink/mavlink_messages.cpp
+6
View File
@@ -207,6 +207,12 @@ void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, ui
custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
*mavlink_base_mode |= auto_mode_flags;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
/* fallthrough */