px4_custom_mode.h

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/****************************************************************************
 *
 *   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
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 *    the documentation and/or other materials provided with the
 *    distribution.
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 *    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
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#pragma once
 
//#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 {
                uint16_t reserved;
                uint8_t main_mode;
                uint8_t sub_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) :
                reserved(0),
                main_mode(mm),
                sub_mode(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