Add pure mode #1815
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Add pure mode #1815
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This adds an API to set the compatibility_mode specifically to PX4, ArduPilot, or Pure. Pure is a new mode that should be based on common without any non-standard customizations.
In Pure mode we don't require this safety precaution.
The meaning of param4 has changed in the spec, so we have to update it.
PX4 currently requires the takeoff altitude as a parameter instead of the command param. This hopefully changes in the future. This commit changes the implementation slightly and also makes sure that the hack only exists for PX4 but not for ArduPilot or Pure mode.
According to the spec we could switch mode automatically when sending the DO_REPOSITION command. Therefore, for ArduPilot and Pure mode, we should actually use this. For PX4, we need to leave the hack which switches to Hold first, at least for the time being.
This excludes ORBIT from ArduPilot and Pure mode for now as it is still marked WIP. We need to decide if that's the right way to go forward, or if it should still be possible to use it in these compatibilitylmodes.
This is because ArduPilot would not work, and because it is not specced for Pure mode.
Signed-off-by: Julian Oes <[email protected]>
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This is work towards a MAVLink standard mode also called pure mode. It adds a setter for a
Systemto implement MAVLink according to the standard without PX4 or ArduPilot specific hacks.