I can not understand VEHICLE_CMD_DO_SET_MODE

Benja · November 11, 2023, 9:11pm

Hi @Cristian-wp , param1 is used to set the base_mode variable, to sub_mode, see the actual implementation of VEHICLE_CMD_DO_SET_MODE:

github.com

PX4/PX4-Autopilot/blob/1592aedc1106589a31dc3643b38f0d78781c37b9/src/modules/commander/Commander.cpp#L759-L763


      
          	case vehicle_command_s::VEHICLE_CMD_DO_SET_MODE: {
          			uint8_t base_mode = (uint8_t)cmd.param1;
          			uint8_t custom_main_mode = (uint8_t)cmd.param2;
          			uint8_t custom_sub_mode = (uint8_t)cmd.param3;

You want base_mode=VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED (1) in order to enter OFFBOARD:

github.com

PX4/PX4-Autopilot/blob/1592aedc1106589a31dc3643b38f0d78781c37b9/src/modules/commander/Commander.cpp#L767-L831


      
          			if (base_mode & VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED) {
          				/* use autopilot-specific mode */
          				if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
          					desired_nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
          
          				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
          					desired_nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
          
          				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
          					desired_nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
          
          				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
          					if (custom_sub_mode > 0) {
          
          						switch (custom_sub_mode) {
          						case PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
          							desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
          							break;
          
          						case PX4_CUSTOM_SUB_MODE_AUTO_MISSION:

This file has been truncated. show original