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Add new mode AUTO_PRECLAND #9261

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merged 1 commit into from
Apr 11, 2018
Merged

Add new mode AUTO_PRECLAND #9261

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3 changes: 3 additions & 0 deletions src/modules/commander/commander.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -724,6 +724,9 @@ Commander::handle_command(vehicle_status_s *status_local,
case PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:
main_ret = main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET, status_flags, &internal_state);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND:
main_ret = main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_PRECLAND, status_flags, &internal_state);
break;

default:
main_ret = TRANSITION_DENIED;
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3 changes: 2 additions & 1 deletion src/modules/commander/px4_custom_mode.h
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Expand Up @@ -62,7 +62,8 @@ enum PX4_CUSTOM_SUB_MODE_AUTO {
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
PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET,
PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND
};

union px4_custom_mode {
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6 changes: 6 additions & 0 deletions src/modules/mavlink/mavlink_messages.cpp
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Expand Up @@ -204,6 +204,12 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, uint8_t *mavlink_st
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET;
break;

case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
*mavlink_base_mode |= auto_mode_flags;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND;
break;

case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:

/* fallthrough */
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