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preflight check: enable mode via command

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This commit is contained in:
Balduin
2025-02-20 14:37:42 +01:00
parent 276a7a2ab2
commit 93c0d19712
2 changed files with 10 additions and 2 deletions
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src/modules/commander/Commander.cpp
+4 -2
View File
@@ -408,7 +408,6 @@ int Commander::custom_command(int argc, char *argv[])
} else if (!strcmp(argv[1], "auto:land")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_LAND);
} else if (!strcmp(argv[1], "auto:precland")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND);
@@ -416,7 +415,6 @@ int Commander::custom_command(int argc, char *argv[])
} else if (!strcmp(argv[1], "ext1")) {
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_SUB_MODE_EXTERNAL1);
} else {
PX4_ERR("argument %s unsupported.", argv[1]);
}
@@ -844,6 +842,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND;
break;
case PX4_CUSTOM_SUB_MODE_AUTO_CS_PREFLIGHT_CHECK:
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK;
break;
case PX4_CUSTOM_SUB_MODE_EXTERNAL1...PX4_CUSTOM_SUB_MODE_EXTERNAL8:
desired_nav_state = vehicle_status_s::NAVIGATION_STATE_EXTERNAL1 + (custom_sub_mode - PX4_CUSTOM_SUB_MODE_EXTERNAL1);
break;
src/modules/commander/px4_custom_mode.h
+6
View File
@@ -65,6 +65,7 @@ enum PX4_CUSTOM_SUB_MODE_AUTO {
PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET,
PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND,
PX4_CUSTOM_SUB_MODE_AUTO_VTOL_TAKEOFF,
PX4_CUSTOM_SUB_MODE_AUTO_CS_PREFLIGHT_CHECK,
PX4_CUSTOM_SUB_MODE_EXTERNAL1,
PX4_CUSTOM_SUB_MODE_EXTERNAL2,
PX4_CUSTOM_SUB_MODE_EXTERNAL3,
@@ -157,6 +158,11 @@ static inline union px4_custom_mode get_px4_custom_mode(uint8_t nav_state)
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_STABILIZED;
break;
case vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_CS_PREFLIGHT_CHECK;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF;