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Adding new follow target navigation and main states. New follow target

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topic added. New follow fsm added to the navigator
This commit is contained in:
Jimmy Johnson
2016-03-27 12:10:57 +02:00
committed by Lorenz Meier
parent fc061ea94d
commit bbc8eaefd7
14 changed files with 266 additions and 8 deletions
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msg/vehicle_status.msg
+4 -2
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@@ -11,7 +11,8 @@ uint8 MAIN_STATE_STAB = 8
uint8 MAIN_STATE_RATTITUDE = 9
uint8 MAIN_STATE_AUTO_TAKEOFF = 10
uint8 MAIN_STATE_AUTO_LAND = 11
uint8 MAIN_STATE_MAX = 12
uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
uint8 MAIN_STATE_MAX = 13
# If you change the order, add or remove arming_state_t states make sure to update the arrays
# in state_machine_helper.cpp as well.
@@ -47,7 +48,8 @@ uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
uint8 NAVIGATION_STATE_RATTITUDE = 16 # Rattitude (aka "flip") mode
uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
uint8 NAVIGATION_STATE_MAX = 19
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
uint8 NAVIGATION_STATE_MAX = 20
# VEHICLE_MODE_FLAG, same as MAV_MODE_FLAG of MAVLink 1.0 protocol
uint8 VEHICLE_MODE_FLAG_SAFETY_ARMED = 128