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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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flix/cli.ino
+4 -2
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@@ -8,7 +8,7 @@
#include "util.h"
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern const int ACRO, STAB;
extern const int ACRO, STAB, AUTO;
extern float loopRate, dt;
extern double t;
extern uint16_t channels[16];
@@ -36,7 +36,7 @@ const char* motd =
"imu - show IMU data\n"
"arm - arm the drone\n"
"disarm - disarm the drone\n"
"stab/acro - set mode\n"
"stab/acro/auto - set mode\n"
"rc - show RC data\n"
"mot - show motor output\n"
"log - dump in-RAM log\n"
@@ -120,6 +120,8 @@ void doCommand(String str, bool echo = false) {
mode = STAB;
} else if (command == "acro") {
mode = ACRO;
} else if (command == "auto") {
mode = AUTO;
} else if (command == "rc") {
print("channels: ");
for (int i = 0; i < 16; i++) {