px4_custom_mode.h

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/**
 * @file px4_custom_mode.h
 * PX4 custom flight modes
 * Copied from PX4 2017-07-08 - https://github.com/PX4/Firmware/blob/master/src/modules/commander/px4_custom_mode.h#L45
 */

#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
};

union px4_custom_mode {
	struct {
		uint16_t reserved;
		uint8_t main_mode;
		uint8_t sub_mode;
	};
    struct {
        uint16_t reserved_hl;
        uint16_t custom_mode_hl;
    };
    uint32_t data;
	float data_float;
};

#endif /* PX4_CUSTOM_MODE_H_ */