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px4_custom_mode.h
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/****************************************************************************
*
* (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
/****************************************************************************
*
* Copyright (c) 2013-2020 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,
PX4_CUSTOM_MAIN_MODE_SIMPLE /* unused, but reserved for future use */
};
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,
PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND
};
enum PX4_CUSTOM_SUB_MODE_POSCTL {
PX4_CUSTOM_SUB_MODE_POSCTL_POSCTL = 0,
PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT
};
union px4_custom_mode {
struct {
uint16_t reserved;
uint8_t main_mode;
uint8_t sub_mode;
};
uint32_t data;
float data_float;
struct {
uint16_t reserved_hl;
uint16_t custom_mode_hl;
};
};
struct PX4CustomMode{
enum Mode : uint32_t{
MANUAL = PX4_CUSTOM_MAIN_MODE_MANUAL <<16,
STABILIZED = PX4_CUSTOM_MAIN_MODE_STABILIZED <<16,
ACRO = PX4_CUSTOM_MAIN_MODE_ACRO <<16,
RATTITUDE = PX4_CUSTOM_MAIN_MODE_RATTITUDE <<16,
ALTCTL = PX4_CUSTOM_MAIN_MODE_ALTCTL <<16,
OFFBOARD = PX4_CUSTOM_MAIN_MODE_OFFBOARD <<16,
SIMPLE = PX4_CUSTOM_MAIN_MODE_SIMPLE <<16,
POSCTL_POSCTL = PX4_CUSTOM_MAIN_MODE_POSCTL <<16 | (PX4_CUSTOM_SUB_MODE_POSCTL_POSCTL << 24 ),
POSCTL_ORBIT = PX4_CUSTOM_MAIN_MODE_POSCTL <<16 | (PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT << 24 ),
AUTO_LOITER = PX4_CUSTOM_MAIN_MODE_AUTO <<16 | (PX4_CUSTOM_SUB_MODE_AUTO_LOITER << 24 ),
AUTO_MISSION = PX4_CUSTOM_MAIN_MODE_AUTO <<16 | (PX4_CUSTOM_SUB_MODE_AUTO_MISSION << 24 ),
AUTO_RTL = PX4_CUSTOM_MAIN_MODE_AUTO <<16 | (PX4_CUSTOM_SUB_MODE_AUTO_RTL << 24 ),
AUTO_FOLLOW_TARGET = PX4_CUSTOM_MAIN_MODE_AUTO <<16 | (PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET << 24 ),
AUTO_LAND = PX4_CUSTOM_MAIN_MODE_AUTO <<16 | (PX4_CUSTOM_SUB_MODE_AUTO_LAND << 24 ),
AUTO_PRECLAND = PX4_CUSTOM_MAIN_MODE_AUTO <<16 | (PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND << 24 ),
AUTO_READY = PX4_CUSTOM_MAIN_MODE_AUTO <<16 | (PX4_CUSTOM_SUB_MODE_AUTO_READY << 24 ),
AUTO_RTGS = PX4_CUSTOM_MAIN_MODE_AUTO <<16 | (PX4_CUSTOM_SUB_MODE_AUTO_RTGS << 24 ),
AUTO_TAKEOFF = PX4_CUSTOM_MAIN_MODE_AUTO <<16 | (PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF << 24 ),
};
};
#endif /* PX4_CUSTOM_MODE_H_ */