Mirrors_Framework/PX4-Autopilot
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feat(modes): make course and heading one mdoe

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ttechnick
2026-04-30 17:09:46 +02:00
parent 9c8dda3b3b
commit 48dd4ba39d
7 changed files with 132 additions and 35 deletions
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msg/versioned/VehicleCommand.msg
+2 -1
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@@ -126,7 +126,8 @@ uint8 FUSION_SOURCE_RNGBCN = 8 # Ranging Beacon
uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehicle commands (> UINT16_MAX).
uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL from GNSS, positive above ground)|
uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Unused|Unused|Unused|Unused|Unused|Unused|
uint32 VEHICLE_CMD_DO_CHANGE_COURSE = 100002 # Change the course setpoint in Course mode. |[rad] Course (bearing) [-PI..PI, NaN = no change]|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_CHANGE_COURSE = 43007 # Change the course setpoint in Course mode. |[deg] Course (bearing) [0..360, NaN = no change]|Unused|Unused|Unused|Unused|Unused|Unused|
uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization.
uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.