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Implement AUTO mode for automatic flights

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Support SET_ATTITUDE_TARGET, SET_ACTUATOR_CONTROL_TARGET in mavlink.
ACTUATOR_OUTPUT_STATUS is changed ACTUATOR_CONTROL_TARGET to match used message for setting motor outputs.
Add support for changing mode from mavlink.
Support automatic flights in pyflix.
This commit is contained in:
Oleg Kalachev
2025-08-28 00:49:24 +03:00
parent 10fafbc4a0
commit 40fc4b96b5
8 changed files with 181 additions and 33 deletions
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docs/usage.md
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@@ -205,7 +205,7 @@ To start the motors, you should **arm** the drone. To do that, move the left sti
<img src="img/arming.svg" width="150">
After that, the motors will start spinning at low speed, indicating that the drone is armed and ready to fly.
After that, the motors **will start spinning** at low speed, indicating that the drone is armed and ready to fly.
When finished flying, **disarm** the drone, moving the left stick to the bottom left corner:
@@ -230,6 +230,12 @@ In this mode, the pilot controls the angular rates. This control method is diffi
Manual mode disables all the stabilization, and the pilot inputs are passed directly to the motors. This mode is intended for testing and demonstration purposes only, and basically the drone **cannot fly in this mode**.
### AUTO
In this mode, the pilot inputs are ignored (except the mode switch, if configured). The drone can be controlled using [pyflix](../tools/pyflix/) Python library, or by modifying the firmware to implement the needed autonomous behavior.
If the pilot moves the control sticks, the drone will switch back to *STAB* mode.
## Adjusting parameters
You can adjust some of the drone's parameters (include PID coefficients) in QGroundControl app. In order to do that, go to the QGroundControl menu ⇒ *Vehicle Setup* ⇒ *Parameters*.