Program Listing for File px4_custom_mode.hpp

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#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_