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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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src/modules/mavlink/mavlink_messages.cpp
+7 -1
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@@ -187,7 +187,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED
| MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_FOLLOW_TARGET;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
/* fallthrough */
case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER: