PX4 mavlink flight modes

relevinsky

Hi,

I have two questions:

Could you help to point me to mavlink px4 dialect c files, specifically I'm looking for Enum of copter flight modes like in Arducopter (like in ardupilotmega mavlink cfiles)?
c mavlink function/command that set px4 to offboard flight mode.

Thanks.

Cliff Wong

Mavlink messages for setting flight mode use the MAVLINK_MSG_ID_SET_MODE message type (same as APM).

Modes are defined in the uOrb layer under the vehicle_status.msg fie, which C headers are auto-generated at build time. The auto-generated file is under the build directory as vehicle_status.h via the NAVIGATION_STATE_* variables.

And example of using modes in runtime code are in the mavlink_messages.cpp file
(search for vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) and modes are processed in the Commander.cpp file. Both files under the src/modules directory of PX4.