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Copter: Change autopilot modes into Enum

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Robert Lefebvre 2015-03-24 17:10:03 -04:00 committed by Randy Mackay
parent 39d23519b1
commit 22a7fba289
1 changed files with 19 additions and 20 deletions
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39
ArduCopter/defines.h
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@ -92,26 +92,25 @@ enum aux_sw_func {
#define HIL_MODE_DISABLED 0
#define HIL_MODE_SENSORS 1
// Auto Pilot modes
// ----------------
#define STABILIZE 0 // hold level position
#define ACRO 1 // rate control
#define ALT_HOLD 2 // AUTO control
#define AUTO 3 // AUTO control
#define GUIDED 4 // AUTO control
#define LOITER 5 // Hold a single location
#define RTL 6 // AUTO control
#define CIRCLE 7 // AUTO control
#define LAND 9 // AUTO control
#define OF_LOITER 10 // Hold a single location using optical flow sensor
#define DRIFT 11 // DRIFT mode (Note: 12 is no longer used)
#define SPORT 13 // earth frame rate control
#define FLIP 14 // flip the vehicle on the roll axis
#define AUTOTUNE 15 // autotune the vehicle's roll and pitch gains
#define POSHOLD 16 // position hold with manual override
#define STOP 17 // Full-Stop using inertial/GPS system, no pilot input
#define NUM_MODES 18
// Auto Pilot Modes enumeration
enum autopilot_modes {
STABILIZE = 0, // 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
GUIDED, // 4, fully automatic fly to coordinate or fly at velocity/direction
LOITER, // 5, automatic horizontal acceleration with automatic throttle
RTL, // 6, automatic return to launching point
CIRCLE, // 7, automatic circular flight with automatic throttle
LAND = 9, // 9, automatic landing with horizontal position control
OF_LOITER, // 10, automatic position control using optical flow sensor
DRIFT, // 11, semi-automatic position, yaw and throttle control
SPORT = 13, // 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
POSHOLD, // 16, automatic position hold with manual override, with automatic throttle
STOP // 17, full-stop using inertial/GPS system, no pilot input
};
// Tuning enumeration
enum tuning_func {