Add proposed flight mode service

osrf · Dec 20, 2018 · 42b525e · 42b525e
1 parent 6e9d9b8
commit 42b525e
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Showing 3 changed files with 21 additions and 5 deletions.
diff --git a/proposed_aerial_msgs/CMakeLists.txt b/proposed_aerial_msgs/CMakeLists.txt
@@ -51,6 +51,7 @@ add_message_files(
   FILES
   AngularVelocity.msg
   Attitude.msg
+  FlightMode.msg
   GlobalPosition.msg
   GlobalWaypoints.msg
   LinearAcceleration.msg
@@ -61,11 +62,10 @@ add_message_files(
 )
 
 ## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
+add_service_files(
+  FILES
+  SetFlightMode.srv
+)
 
 ## Generate actions in the 'action' folder
 # add_action_files(

diff --git a/proposed_aerial_msgs/msg/FlightMode.msg b/proposed_aerial_msgs/msg/FlightMode.msg
@@ -0,0 +1,8 @@
+# targeting mav_msgs
+uint8 FLIGHT_MODE_DISARMED=0
+uint8 FLIGHT_MODE_ARMED=1
+uint8 FLIGHT_MODE_FLYING=2
+uint8 FLIGHT_MODE_LANDED=3
+uint8 FLIGHT_MODE_RTL=4
+
+uint8 flight_mode # The flight mode indicated
diff --git a/proposed_aerial_msgs/srv/SetFlightMode.srv b/proposed_aerial_msgs/srv/SetFlightMode.srv
@@ -0,0 +1,8 @@
+# targeting mav_msgs
+
+#mav_msgs/
+FlightMode goal # The desired flight mode
+---
+#mav_msgs/
+FlightMode result # The resultant state after the attempted transition.
+bool success # True if desired change was executed False otherwise.