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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