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mission: publish "work item" as current sub flight mode

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This commit is contained in:
Alessandro Simovic
2022-04-20 14:19:45 +02:00
parent 2bf072e5cd
commit d66f7b7b43
5 changed files with 67 additions and 74 deletions
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msg/NavigatorMissionItem.msg
+10 -3
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@@ -6,10 +6,17 @@ uint16 sequence_current # Sequence of the current mission item
uint16 nav_cmd
uint8 MISSION_SUBMODE_NONE = 0
uint8 MISSION_SUBMODE_PRECLAND = 1
# Work Item corresponds to the sub-mode set on the "MAV_CMD_DO_SET_MODE" MAVLink message
uint8 WORK_ITEM_TYPE_DEFAULT = 0 # Default mission item
uint8 WORK_ITEM_TYPE_TAKEOFF = 1 # Takeoff before moving to waypoint
uint8 WORK_ITEM_TYPE_MOVE_TO_LAND = 2 # Move to land waypoint before descent
uint8 WORK_ITEM_TYPE_ALIGN = 3 # Align for next waypoint
uint8 WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF = 4 # VTOL specific
uint8 WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION = 5 # VTOL specific
uint8 WORK_ITEM_TYPE_PRECISION_LAND = 6 # Precision Landing for Multicopters using external aid
uint8 nav_sub_cmd # sub-command, for example AUTO_PRECLAND in main command AUTO_MISSION
uint8 nav_sub_cmd # Synonymous to "work_item_type" in Navigator. Will be renamed eventually in navigator.
# sub-command, for example AUTO_PRECLAND in main command AUTO_MISSION
float32 latitude
float32 longitude