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mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes #814

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merged 5 commits into from
Sep 20, 2017
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mavsys: mode: add solutions for setting AUTO.MISSION and AUTO.LOITER modes #814

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ab73da7
mavsys: add notes on how to change mode to AUTO.MISSION on PX4 Pro
TSC21 Sep 16, 2017
049ec28
enum_to_string: update enums
TSC21 Sep 17, 2017
096cb32
mavsys: mode: move AUTO submodes info to argparser
TSC21 Sep 18, 2017
259d3ea
sys_status: leave note that MAV_TYPE_ONBOARD_CONTROLLER will be suppo…
TSC21 Sep 18, 2017
c38e8af
mavsys: mode: add note on changing to AUTO.LOITER
TSC21 Sep 20, 2017
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8 changes: 8 additions & 0 deletions mavros/scripts/mavsys
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,15 @@ from mavros_msgs.srv import SetMode, StreamRate, StreamRateRequest


def do_mode(args):
<<<<<<< HEAD
base_mode = 0
=======
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looks like rebase error ^^

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That's fixed @khancyr. thanks

# Setting to MAV_MODE_FLAG_CUSTOM_MODE_ENABLED is mandatory, so to change to
# a custom mode/submode.
# NOTE: In order to change to AUTO.MISSION on PX4 Pro, you need to disable
# datalink failsafe, which can be done by setting NAV_DLL_ACT to 0.
base_mode = 1 # 1 = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
>>>>>>> 2221c7c... mavsys: add notes on how to change mode to AUTO.MISSION on PX4 Pro
custom_mode = ''

if args.custom_mode is not None:
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22 changes: 11 additions & 11 deletions mavros_msgs/srv/SetMode.srv
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Expand Up @@ -4,17 +4,17 @@
# http://wiki.ros.org/mavros/CustomModes

# basic modes from MAV_MODE
uint8 MAV_MODE_PREFLIGHT = 0
uint8 MAV_MODE_STABILIZE_DISARMED = 80
uint8 MAV_MODE_STABILIZE_ARMED = 208
uint8 MAV_MODE_MANUAL_DISARMED = 64
uint8 MAV_MODE_MANUAL_ARMED = 192
uint8 MAV_MODE_GUIDED_DISARMED = 88
uint8 MAV_MODE_GUIDED_ARMED = 216
uint8 MAV_MODE_AUTO_DISARMED = 92
uint8 MAV_MODE_AUTO_ARMED = 220
uint8 MAV_MODE_TEST_DISARMED = 66
uint8 MAV_MODE_TEST_ARMED = 194
uint8 MAV_MODE_PREFLIGHT = 0
uint8 MAV_MODE_STABILIZE_DISARMED = 80
uint8 MAV_MODE_STABILIZE_ARMED = 208
uint8 MAV_MODE_MANUAL_DISARMED = 64
uint8 MAV_MODE_MANUAL_ARMED = 192
uint8 MAV_MODE_GUIDED_DISARMED = 88
uint8 MAV_MODE_GUIDED_ARMED = 216
uint8 MAV_MODE_AUTO_DISARMED = 92
uint8 MAV_MODE_AUTO_ARMED = 220
uint8 MAV_MODE_TEST_DISARMED = 66
uint8 MAV_MODE_TEST_ARMED = 194

uint8 base_mode # filled by MAV_MODE enum value or 0 if custom_mode != ''
string custom_mode # string mode representation or integer
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