.. _program_listing_file__tmp_ws_src_mavros_mavros_include_mavros_px4_custom_mode.hpp:

Program Listing for File px4_custom_mode.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_mavros_mavros_include_mavros_px4_custom_mode.hpp>` (``/tmp/ws/src/mavros/mavros/include/mavros/px4_custom_mode.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /****************************************************************************
    *
    *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions
    * are met:
    *
    * 1. Redistributions of source code must retain the above copyright
    *    notice, this list of conditions and the following disclaimer.
    * 2. Redistributions in binary form must reproduce the above copyright
    *    notice, this list of conditions and the following disclaimer in
    *    the documentation and/or other materials provided with the
    *    distribution.
    * 3. Neither the name PX4 nor the names of its contributors may be
    *    used to endorse or promote products derived from this software
    *    without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
    * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
    * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
    * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    *
    ****************************************************************************/
   
   #pragma once
   
   #ifndef MAVROS__PX4_CUSTOM_MODE_HPP_
   #define MAVROS__PX4_CUSTOM_MODE_HPP_
   
   // #include <stdint.h>
   
   namespace px4
   {
   union custom_mode {
     enum MAIN_MODE : uint8_t
     {
       MAIN_MODE_MANUAL = 1,
       MAIN_MODE_ALTCTL,
       MAIN_MODE_POSCTL,
       MAIN_MODE_AUTO,
       MAIN_MODE_ACRO,
       MAIN_MODE_OFFBOARD,
       MAIN_MODE_STABILIZED,
       MAIN_MODE_RATTITUDE
     };
   
     enum SUB_MODE_AUTO : uint8_t
     {
       SUB_MODE_AUTO_READY = 1,
       SUB_MODE_AUTO_TAKEOFF,
       SUB_MODE_AUTO_LOITER,
       SUB_MODE_AUTO_MISSION,
       SUB_MODE_AUTO_RTL,
       SUB_MODE_AUTO_LAND,
       SUB_MODE_AUTO_RTGS,
       SUB_MODE_AUTO_FOLLOW_TARGET,
       SUB_MODE_AUTO_PRECLAND
     };
   
     struct mode_type
     {
       uint16_t reserved;
       uint8_t main_mode;
       uint8_t sub_mode;
     } mode;
     uint32_t data;
     float data_float;
   
     custom_mode() : data(0)
     {
     }
   
     explicit custom_mode(uint32_t val) : data(val)
     {
     }
   
     constexpr custom_mode(uint8_t mm, uint8_t sm)
       : mode{0, mm, sm}
     {
     }
   };
   
   constexpr uint32_t define_mode(enum custom_mode::MAIN_MODE mm, uint8_t sm = 0)
   {
     return custom_mode(mm, sm).data;
   }
   
   constexpr uint32_t define_mode_auto(enum custom_mode::SUB_MODE_AUTO sm)
   {
     return define_mode(custom_mode::MAIN_MODE_AUTO, sm);
   }
   }       // namespace px4
   
   
   #endif  // MAVROS__PX4_CUSTOM_MODE_HPP_