Modes

An operation mode is a state in which the autopilot can be in. The autopilot can be in only one mode at a time. In this section we provide an overview on the autopilot operating modes and how to add custom modes to the state machine.

Depending on the target application, an autopilot mode can be used to define a new behaviour for the vehicle to execute, or be used to prototype a controller as well. For instance, if you want to prototype a new controller to be used only for following a specific trajectory, then it might make sense to implement it as a mode rather than a controller that is used by all the other available modes.

This page is structured as follows:

• Section Mode Interface introduces the “Mode” class that defines the interface for the autopilot operating modes.

• Section Provided State Machine Modes provides an overview of the provided operating modes and where they are implemented.

• Section Adding Custom Modes to the State Machine provides a step-by-step guide on how to add custom operating modes to the state machine.

Operation Modes Page Index:

• Mode Interface
• Provided State Machine Modes
• Adding Custom Modes to the State Machine