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Added commander support for rattitude mode. Still need to incorporate attitude/rate switching in multicopter control

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Eddy Scott
2015-10-28 08:37:12 -04:00
committed by Eddy
parent 8ba0c003db
commit c4a82d78c8
7 changed files with 96 additions and 14 deletions
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msg/vehicle_status.msg
+4 -2
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@@ -8,7 +8,8 @@ uint8 MAIN_STATE_AUTO_RTL = 5
uint8 MAIN_STATE_ACRO = 6
uint8 MAIN_STATE_OFFBOARD = 7
uint8 MAIN_STATE_STAB = 8
uint8 MAIN_STATE_MAX = 9
uint8 MAIN_STATE_RATTITUDE = 9
uint8 MAIN_STATE_MAX = 10
# 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.
@@ -41,7 +42,8 @@ uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
uint8 NAVIGATION_STATE_MAX = 16
uint8 NAVIGATION_STATE_RATTITUDE = 16 # Rattitude (aka "flip") mode
uint8 NAVIGATION_STATE_MAX = 17
# VEHICLE_MODE_FLAG, same as MAV_MODE_FLAG of MAVLink 1.0 protocol
uint8 VEHICLE_MODE_FLAG_SAFETY_ARMED = 128