px4_custom_mode.h

Go to the documentation of this file.

/* Modifyed copy px4_custom_mode.h from PX4/Firmware
 * No license given in header, but i think is BSD 3-clause.
 *
 *  Created on: 09.08.2013
 *      Author: ton
 */

#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,
        };

        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
        };

        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