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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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e49b596edc
This is an intermediate solution to carry forward the initial state of the mode slot. Basically, it allows that we start up in Stabilized but switch to POSCTL as soon we have the required GPS.
25 lines
873 B
Plaintext
25 lines
873 B
Plaintext
# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
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uint64 timestamp # time since system start (microseconds)
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uint8 MAIN_STATE_MANUAL = 0
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uint8 MAIN_STATE_ALTCTL = 1
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uint8 MAIN_STATE_POSCTL = 2
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uint8 MAIN_STATE_AUTO_MISSION = 3
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uint8 MAIN_STATE_AUTO_LOITER = 4
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uint8 MAIN_STATE_AUTO_RTL = 5
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uint8 MAIN_STATE_ACRO = 6
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uint8 MAIN_STATE_OFFBOARD = 7
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uint8 MAIN_STATE_STAB = 8
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# LEGACY RATTITUDE = 9
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uint8 MAIN_STATE_AUTO_TAKEOFF = 10
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uint8 MAIN_STATE_AUTO_LAND = 11
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uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
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uint8 MAIN_STATE_AUTO_PRECLAND = 13
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uint8 MAIN_STATE_ORBIT = 14
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uint8 MAIN_STATE_MAX = 15
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uint8 main_state
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uint8 desired_main_state
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uint16 main_state_changes
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