From 0ec5bc8ceb0345709c3ca26b25750cc1a2ff00f7 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 12 Apr 2016 14:19:09 -0400 Subject: [PATCH] add airspeed mode --- src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc | 1 + src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc | 3 +++ src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h | 1 + src/comm/MockLink.cc | 1 + 4 files changed, 6 insertions(+) diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc index 5afedc3..9d81842 100644 --- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc +++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc @@ -43,6 +43,7 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_ACRO, PX4_CUSTOM_MAIN_MODE_OFFBOARD, PX4_CUSTOM_MAIN_MODE_STABILIZED, + PX4_CUSTOM_MAIN_MODE_AIRSPD, PX4_CUSTOM_MAIN_MODE_RATTITUDE }; diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc index d28f8b6..c159ef0 100644 --- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc +++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc @@ -38,6 +38,7 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_ACRO, PX4_CUSTOM_MAIN_MODE_OFFBOARD, PX4_CUSTOM_MAIN_MODE_STABILIZED, + PX4_CUSTOM_MAIN_MODE_AIRSPD, PX4_CUSTOM_MAIN_MODE_RATTITUDE }; @@ -74,6 +75,7 @@ const char* PX4FirmwarePlugin::acroFlightMode = "Acro"; const char* PX4FirmwarePlugin::stabilizedFlightMode = "Stabilized"; const char* PX4FirmwarePlugin::rattitudeFlightMode = "Rattitude"; const char* PX4FirmwarePlugin::altCtlFlightMode = "Altitude Control"; +const char* PX4FirmwarePlugin::airSpdFlightMode = "Airspeed"; const char* PX4FirmwarePlugin::posCtlFlightMode = "Position Control"; const char* PX4FirmwarePlugin::offboardFlightMode = "Offboard Control"; const char* PX4FirmwarePlugin::readyFlightMode = "Ready"; @@ -93,6 +95,7 @@ static const struct Modes2Name rgModes2Name[] = { { PX4_CUSTOM_MAIN_MODE_STABILIZED, 0, PX4FirmwarePlugin::stabilizedFlightMode, true }, { PX4_CUSTOM_MAIN_MODE_RATTITUDE, 0, PX4FirmwarePlugin::rattitudeFlightMode, true }, { PX4_CUSTOM_MAIN_MODE_ALTCTL, 0, PX4FirmwarePlugin::altCtlFlightMode, true }, + { PX4_CUSTOM_MAIN_MODE_AIRSPD, 0, PX4FirmwarePlugin::airSpdFlightMode, true }, { PX4_CUSTOM_MAIN_MODE_POSCTL, 0, PX4FirmwarePlugin::posCtlFlightMode, true }, { PX4_CUSTOM_MAIN_MODE_OFFBOARD, 0, PX4FirmwarePlugin::offboardFlightMode, true }, { PX4_CUSTOM_MAIN_MODE_AUTO, PX4_CUSTOM_SUB_MODE_AUTO_READY, PX4FirmwarePlugin::readyFlightMode, false }, diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h index 2185809..fd06859 100644 --- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h +++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h @@ -65,6 +65,7 @@ public: static const char* stabilizedFlightMode; static const char* rattitudeFlightMode; static const char* altCtlFlightMode; + static const char* airSpdFlightMode; static const char* posCtlFlightMode; static const char* offboardFlightMode; static const char* readyFlightMode; diff --git a/src/comm/MockLink.cc b/src/comm/MockLink.cc index 9d161c6..7857ebc 100644 --- a/src/comm/MockLink.cc +++ b/src/comm/MockLink.cc @@ -47,6 +47,7 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_ACRO, PX4_CUSTOM_MAIN_MODE_OFFBOARD, PX4_CUSTOM_MAIN_MODE_STABILIZED, + PX4_CUSTOM_MAIN_MODE_AIRSPD, PX4_CUSTOM_MAIN_MODE_RATTITUDE };