add control modes h file

src/drone_services/srv/SetVehicleControl.srv

@@ -6,6 +6,10 @@
 # bit 4: velocity
 # bit 5: position
 
+# used control modes:
+# 4: attitude and thrust
+# 16: velocity
+# 32: position
 int32 control # control bitmask
 ---
 int8 status # status of operation

src/px4_connection/include/drone_control_modes.h

@@ -0,0 +1,15 @@
+#ifndef DRONE_CONTROL_MODES_H
+#define DRONE_CONTROL_MODES_H
+
+#define CONTROL_MODE_ATTITUDE 1
+#define CONTROL_MODE_VELOCITY 2
+#define CONTROL_MODE_POSITION 3
+
+#define CONTROL_ACTUATOR_POS 0
+#define CONTROL_BODY_RATE_POS 1
+#define CONTROL_ATTITUDE_POS 2
+#define CONTROL_ACCELERATION_POS 3
+#define CONTROL_VELOCITY_POS 4
+#define CONTROL_POSITION_POS 5
+
+#endif

src/px4_connection/src/heartbeat.cpp

@@ -10,16 +10,9 @@
 #include <drone_services/srv/set_vehicle_control.hpp>
 #include <drone_services/msg/drone_control_mode.hpp>
 
-#define CONTROL_MODE_ATTITUDE 1
+#include "drone_control_modes.h"
-#define CONTROL_MODE_VELOCITY 2
+
-#define CONTROL_MODE_POSITION 3
 
-#define CONTROL_ACTUATOR_POS 0
-#define CONTROL_BODY_RATE_POS 1
-#define CONTROL_ATTITUDE_POS 2
-#define CONTROL_ACCELERATION_POS 3
-#define CONTROL_VELOCITY_POS 4
-#define CONTROL_POSITION_POS 5
 
 using namespace std::chrono_literals;
 

src/px4_connection/src/px4_controller.cpp

@@ -20,6 +20,8 @@
 
 #include <std_srvs/srv/empty.hpp>
 
+#include "drone_control_modes.h"
+
 #define D_SPEED(x) -x - 9.81
 
 using namespace std::chrono_literals;