px4_custom_mode.h

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 *   Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
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#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,
    PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND
};

enum PX4_CUSTOM_SUB_MODE_POSCTL {
    PX4_CUSTOM_SUB_MODE_POSCTL_POSCTL = 0,
    PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT
};

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_hl;
        uint16_t custom_mode_hl;
    };
};

#endif /* PX4_CUSTOM_MODE_H_ */