commander: implement external modes and mode executors

2026-07-08 20:30:36 +08:00 · 2022-11-07 15:57:51 +01:00
parent ab71ef4447
commit af62227a83
32 changed files with 1599 additions and 52 deletions
@@ -14,3 +14,8 @@ bool flag_control_position_enabled		# true if position is controlled
 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
+
+# TODO: use dedicated topic for external requests
+uint8 source_id                  # Mode ID (nav_state)
+
+# TOPICS vehicle_control_mode config_control_setpoints