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px4_custom_mode.h 674 B
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#ifndef PX4_CUSTOM_MODE_H
#define PX4_CUSTOM_MODE_H

enum PX4_CUSTOM_MAIN_MODE {
    PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
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    PX4_CUSTOM_MAIN_MODE_ALTCTL,
    PX4_CUSTOM_MAIN_MODE_POSCTL,
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    PX4_CUSTOM_MAIN_MODE_AUTO,
};

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,
};

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