Merge pull request #974 from mavlink/offboard_mode

Offboard mode

src/comm/px4_custom_mode.h

-#ifndef PX4_CUSTOM_MODE_H
-#define PX4_CUSTOM_MODE_H
+/*
+ * px4_custom_mode.h
+ *
+ *  Created on: 09.08.2013
+ *      Author: ton
+ */
+
+#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_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,
 };
 
 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_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
 };
 
 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;
+		uint8_t main_mode;
+		uint8_t sub_mode;
+	};
+	uint32_t data;
+	float data_float;
 };
 
-#endif // PX4_CUSTOM_MODE_H
+#endif /* PX4_CUSTOM_MODE_H_ */

src/uas/UAS.cc

@@ -2905,7 +2905,7 @@ bool UAS::emergencyKILL()
 void UAS::enableHilFlightGear(bool enable, QString options, bool sensorHil, QObject * configuration)
 {
     Q_UNUSED(configuration);
-    
+
     QGCFlightGearLink* link = dynamic_cast<QGCFlightGearLink*>(simulation);
     if (!link || !simulation) {
         // Delete wrong sim
@@ -3115,7 +3115,7 @@ void UAS::sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, floa
                     float flow_comp_m_y, quint8 quality, float ground_distance)
 {
     // FIXME: This needs to be updated for new mavlink_msg_hil_optical_flow_pack api
-    
+
     Q_UNUSED(time_us);
     Q_UNUSED(flow_x);
     Q_UNUSED(flow_y);
@@ -3123,14 +3123,14 @@ void UAS::sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, floa
     Q_UNUSED(flow_comp_m_y);
     Q_UNUSED(quality);
     Q_UNUSED(ground_distance);
-    
+
     if (this->base_mode & MAV_MODE_FLAG_HIL_ENABLED)
     {
 #if 0
         mavlink_message_t msg;
         mavlink_msg_hil_optical_flow_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
                                    time_us, 0, 0 /* hack */, flow_x, flow_y, 0.0f /* hack */, 0.0f /* hack */, 0.0f /* hack */, 0 /* hack */, quality, ground_distance);
-        
+
         sendMessage(msg);
         lastSendTimeOpticalFlow = QGC::groundTimeMilliseconds();
 #endif
@@ -3354,6 +3354,8 @@ QString UAS::getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode, int au
                 } else if (px4_mode.sub_mode == PX4_CUSTOM_SUB_MODE_AUTO_LAND) {
                     mode += "|LAND";
                 }
+            } else if (px4_mode.main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
+                mode += "|OFFBOARD";
             }
         }
     }

src/ui/uas/UASControlWidget.cc

@@ -52,7 +52,7 @@ static struct full_mode_s modes_list_common[] = {
             0 },
 };
 
-static struct full_mode_s modes_list_px4[4];
+static struct full_mode_s modes_list_px4[5];
 
 UASControlWidget::UASControlWidget(QWidget *parent) : QWidget(parent),
     uasID(-1),
@@ -88,6 +88,9 @@ void UASControlWidget::updateModesList()
     modes_list_px4[3].baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
     px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
     modes_list_px4[3].customMode = px4_cm.data;
+    modes_list_px4[4].baseMode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
+    px4_cm.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
+    modes_list_px4[4].customMode = px4_cm.data;
 
     // Detect autopilot type
     int autopilot = 0;