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Add pure mode #1815
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Add pure mode #1815
Commits on Nov 22, 2022
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core: add compatibility mode setter for system
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.
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action: only switch to Hold for PX4
In Pure mode we don't require this safety precaution.
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action: update reboot and shutdown command
The meaning of param4 has changed in the spec, so we have to update it.
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action: mark hack for takeoff altitude
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.
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action: auto change mode for REPOSITION
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.
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action: only attempt ORBIT against PX4
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.
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calibration: return unsupported if not using PX4
This is because ArduPilot would not work, and because it is not specced for Pure mode.
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Commits on Nov 24, 2022
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