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commander: implement external modes and mode executors

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This commit is contained in:
Beat Küng
2022-11-07 15:57:51 +01:00
parent 58d2badf9f
commit fbbccf6997
32 changed files with 1632 additions and 51 deletions
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msg/VehicleControlMode.msg
+5
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@@ -15,3 +15,8 @@ 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
bool flag_control_allocation_enabled # true if control allocation is enabled
# TODO: use dedicated topic for external requests
uint8 source_id # Mode ID (nav_state)
# TOPICS vehicle_control_mode config_control_setpoints