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Commit 0f76d2a6 authored by Lorenz Meier's avatar Lorenz Meier
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PX4 flight modes: Cleanup acro, introduce stabilize

parent bdbb3c45
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src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
View file @ 0f76d2a6
......@@ -40,6 +40,7 @@ enum PX4_CUSTOM_MAIN_MODE {
PX4_CUSTOM_MAIN_MODE_AUTO,
PX4_CUSTOM_MAIN_MODE_ACRO,
PX4_CUSTOM_MAIN_MODE_OFFBOARD,
PX4_CUSTOM_MAIN_MODE_STABILIZED,
};
enum PX4_CUSTOM_SUB_MODE_AUTO {
......@@ -100,6 +101,18 @@ QList<AutoPilotPluginManager::FullMode_t> PX4AutoPilotPlugin::getModes(void)
fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
fullMode.customMode = px4_cm.data;
modeList << fullMode;
px4_cm.data = 0;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
fullMode.customMode = px4_cm.data;
modeList << fullMode;
px4_cm.data = 0;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_STABILIZED;
fullMode.baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
fullMode.customMode = px4_cm.data;
modeList << fullMode;
px4_cm.data = 0;
px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
......@@ -140,6 +153,10 @@ QString PX4AutoPilotPlugin::getShortModeText(uint8_t baseMode, uint32_t customMo
if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
mode = "|MANUAL";
} else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
mode = "|ACRO";
} else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_STABILIZED) {
mode = "|STAB";
} else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
mode = "|ALTCTL";
} else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
......
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