Adding new drive modes in rover

I am trying to add some custom modes to rover, via PX4 flightstack. I was wondering if there is an accessible way around it. I figured that we can add a use case to the RoverPositionControl.cpp file as suggested by @Jaeyoung-Lim. But, it is getting a little complicated to understand. I’d really appreciate some more ideas on this :blush:

@Shambhavi_Gupta You can ask exactly what you don’t understand and we can discuss in this thread :grinning_face_with_smiling_eyes: