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Sub: update control mode descriptions

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Jacob Walser 2016-09-01 11:10:11 -04:00 committed by Andrew Tridgell
parent 0085cc8a27
commit c62e882886
1 changed files with 14 additions and 14 deletions
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28
ArduSub/defines.h
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@ -97,22 +97,22 @@ enum aux_sw_func {
// Auto Pilot Modes enumeration
enum control_mode_t {
STABILIZE = 0, // manual airframe angle with manual throttle
ACRO = 1, // manual body-frame angular rate with manual throttle
ALT_HOLD = 2, // manual airframe angle with automatic throttle
AUTO = 3, // fully automatic waypoint control using mission commands
GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
VELHOLD = 5, // automatic horizontal acceleration with automatic throttle
RTL = 6, // automatic return to launching point
CIRCLE = 7, // automatic circular flight with automatic throttle
SURFACE = 9, // automatic landing with horizontal position control
STABILIZE = 0, // manual angle with manual depth/throttle
ACRO = 1, // manual body-frame angular rate with manual depth/throttle
ALT_HOLD = 2, // manual angle with automatic depth/throttle
AUTO = 3, // not implemented in sub // fully automatic waypoint control using mission commands
GUIDED = 4, // not implemented in sub // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
VELHOLD = 5, // automatic x/y velocity control and automatic depth/throttle
RTL = 6, // not implemented in sub // automatic return to launching point
CIRCLE = 7, // not implemented in sub // automatic circular flight with automatic throttle
SURFACE = 9, // automatically return to surface, pilot maintains horizontal control
OF_LOITER = 10, // deprecated
DRIFT = 11, // semi-automous position, yaw and throttle control
TRANSECT = 13, // manual earth-frame angular rate control with manual throttle
FLIP = 14, // automatically flip the vehicle on the roll axis
AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
DRIFT = 11, // not implemented in sub // semi-automous position, yaw and throttle control
TRANSECT = 13, // automatic x/y velocity, automatic heading/crosstrack error compensation, automatic depth/throttle
FLIP = 14, // not implemented in sub // automatically flip the vehicle on the roll axis
AUTOTUNE = 15, // not implemented in sub // automatically tune the vehicle's roll and pitch gains
POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
BRAKE = 17, // not implemented in sub // full-brake using inertial/GPS system, no pilot input
THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
MANUAL = 19 // Pass-through input with no stabilization
};