adding surface tracking

add button function
bluerobotics · Feb 15, 2024 · 9e354f5 · 9e354f5
1 parent b1a8574
commit 9e354f5
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diff --git a/src/libs/joystick/protocols/mavlink-manual-control.ts b/src/libs/joystick/protocols/mavlink-manual-control.ts
@@ -39,6 +39,7 @@ export enum MAVLinkButtonFunction {
     mode_circle = 'Mode circle', // 10
     mode_guided = 'Mode guided', // 11
     mode_acro = 'Mode acro', // 12
+    mode_surftrack = 'Mode SurfTrack', // 13
     mount_center = 'Mount center', // 21
     mount_tilt_up = 'Mount tilt up', // 22
     mount_tilt_down = 'Mount tilt down', // 23
@@ -235,6 +236,7 @@ const mavlinkManualControlButtonFunctions: { [key in MAVLinkButtonFunction]: MAV
   [MAVLinkButtonFunction.mode_circle]: new MAVLinkManualControlButtonAction(MAVLinkButtonFunction.mode_circle, 'Mode circle'),
   [MAVLinkButtonFunction.mode_guided]: new MAVLinkManualControlButtonAction(MAVLinkButtonFunction.mode_guided, 'Mode guided'),
   [MAVLinkButtonFunction.mode_acro]: new MAVLinkManualControlButtonAction(MAVLinkButtonFunction.mode_acro, 'Mode acro'),
+  [MAVLinkButtonFunction.mode_surftrack]: new MAVLinkManualControlButtonAction(MAVLinkButtonFunction.mode_surftrack, 'Mode SurfTrack'),
   [MAVLinkButtonFunction.mount_center]: new MAVLinkManualControlButtonAction(MAVLinkButtonFunction.mount_center, 'Mount center'),
   [MAVLinkButtonFunction.mount_tilt_up]: new MAVLinkManualControlButtonAction(MAVLinkButtonFunction.mount_tilt_up, 'Mount tilt up'),
   [MAVLinkButtonFunction.mount_tilt_down]: new MAVLinkManualControlButtonAction(MAVLinkButtonFunction.mount_tilt_down, 'Mount tilt down'),

diff --git a/src/libs/vehicle/ardupilot/ardusub.ts b/src/libs/vehicle/ardupilot/ardusub.ts
@@ -26,6 +26,8 @@ export enum CustomMode {
   CIRCLE = 7,
   // Automatically return to surface, pilot maintains horizontal control
   SURFACE = 9,
+  // maintain distance from the bottom surface
+  SURFACE_TRACK = 21,
   // Automatic position hold with manual override, with automatic throttle
   POSHOLD = 16,
   // Pass-through input with no stabilization