commander: implement external modes and mode executors

2026-07-15 23:30:34 +08:00 · 2022-11-07 15:57:51 +01:00
parent 1ad5a9de08
commit 9cb8245851
32 changed files with 1629 additions and 51 deletions
@@ -15,3 +15,8 @@ bool flag_control_altitude_enabled		# true if altitude is controlled
 bool flag_control_climb_rate_enabled		# true if climb rate is controlled
 bool flag_control_termination_enabled		# true if flighttermination is enabled
 bool flag_control_allocation_enabled		# true if control allocation is enabled
+
+# TODO: use dedicated topic for external requests
+uint8 source_id                  # Mode ID (nav_state)
+
+# TOPICS vehicle_control_mode config_control_setpoints