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Add support for switching to auto modes via SET_MODE

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Nate Weibley
2015-12-02 13:38:44 +01:00
committed by Andreas Antener
parent 7b9d49f6b6
commit 4e4f780ecc
2 changed files with 18 additions and 2 deletions
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src/modules/commander/commander.cpp
+17 -1
View File
@@ -559,6 +559,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case vehicle_command_s::VEHICLE_CMD_DO_SET_MODE: { case vehicle_command_s::VEHICLE_CMD_DO_SET_MODE: {
uint8_t base_mode = (uint8_t)cmd->param1; uint8_t base_mode = (uint8_t)cmd->param1;
uint8_t custom_main_mode = (uint8_t)cmd->param2; uint8_t custom_main_mode = (uint8_t)cmd->param2;
uint8_t custom_sub_mode = (uint8_t)cmd->param3;
transition_result_t arming_ret = TRANSITION_NOT_CHANGED; transition_result_t arming_ret = TRANSITION_NOT_CHANGED;
@@ -596,7 +597,22 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */ /* AUTO */
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_AUTO_MISSION); switch(custom_sub_mode) {
case PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_AUTO_LOITER);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_MISSION:
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_AUTO_MISSION);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_RTL:
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_AUTO_RTL);
break;
default:
main_ret = TRANSITION_DENIED;
mavlink_log_critical(mavlink_fd, "Unsupported auto command");
break;
}
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) { } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
/* ACRO */ /* ACRO */
src/modules/mavlink/mavlink_receiver.cpp
+1 -1
View File
@@ -539,7 +539,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
/* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ /* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = new_mode.base_mode; vcmd.param1 = new_mode.base_mode;
vcmd.param2 = custom_mode.main_mode; vcmd.param2 = custom_mode.main_mode;
vcmd.param3 = 0; vcmd.param3 = custom_mode.sub_mode;
vcmd.param4 = 0; vcmd.param4 = 0;
vcmd.param5 = 0; vcmd.param5 = 0;
vcmd.param6 = 0; vcmd.param6 = 0;