mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-18 20:39:06 +08:00
78 lines
2.6 KiB
C
78 lines
2.6 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file px4_custom_mode.h
|
|
* PX4 custom flight modes
|
|
*
|
|
*/
|
|
|
|
#ifndef PX4_CUSTOM_MODE_H_
|
|
#define PX4_CUSTOM_MODE_H_
|
|
|
|
#include <stdint.h>
|
|
|
|
enum PX4_CUSTOM_MAIN_MODE {
|
|
PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
|
|
PX4_CUSTOM_MAIN_MODE_ALTCTL,
|
|
PX4_CUSTOM_MAIN_MODE_POSCTL,
|
|
PX4_CUSTOM_MAIN_MODE_AUTO,
|
|
PX4_CUSTOM_MAIN_MODE_ACRO,
|
|
PX4_CUSTOM_MAIN_MODE_OFFBOARD,
|
|
PX4_CUSTOM_MAIN_MODE_STABILIZED,
|
|
PX4_CUSTOM_MAIN_MODE_RATTITUDE
|
|
};
|
|
|
|
enum PX4_CUSTOM_SUB_MODE_AUTO {
|
|
PX4_CUSTOM_SUB_MODE_AUTO_READY = 1,
|
|
PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF,
|
|
PX4_CUSTOM_SUB_MODE_AUTO_LOITER,
|
|
PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
|
|
PX4_CUSTOM_SUB_MODE_AUTO_RTL,
|
|
PX4_CUSTOM_SUB_MODE_AUTO_LAND,
|
|
PX4_CUSTOM_SUB_MODE_AUTO_RTGS,
|
|
PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET
|
|
};
|
|
|
|
union px4_custom_mode {
|
|
struct {
|
|
uint16_t reserved;
|
|
uint8_t main_mode;
|
|
uint8_t sub_mode;
|
|
};
|
|
uint32_t data;
|
|
float data_float;
|
|
};
|
|
|
|
#endif /* PX4_CUSTOM_MODE_H_ */
|