PX4 如何切换到offboard 模式

最近研究px4的offboard模式，如何切换到offboard模式一筹莫展，便跟踪源代码至commander module。

一、 handle_command函数

  从dronekit发送设定offboard模式的mavlink信息至飞控，相关命令经mavlink模块解析得到关于vehicle_command的主题。

def PX4setMode(mavMode): vehicle._master.mav.command_long_send(vehicle._master.target_system, vehicle._master.target_component, mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0, 1, mavMode, 0, 0, 0, 0, 0)

由handle_command函数中

                                } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
/* OFFBOARD */
main_ret = main_state_transition(status_local, commander_state_s::MAIN_STATE_OFFBOARD, main_state_prev, &status_flags, &internal_state);
}

相关信息要跟踪至main_state_transition。

二、main_state_transition

   main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state, uint8_t &main_state_prev,
     status_flags_s *status_flags, struct commander_state_s *internal_state)
{
transition_result_t ret = TRANSITION_DENIED;


/* transition may be denied even if the same state is requested because conditions may have changed */
switch (new_main_state) {

case commander_state_s::MAIN_STATE_OFFBOARD:


/* need offboard signal */
if (!status_flags->offboard_control_signal_lost) {
ret = TRANSITION_CHANGED;
}


break;

     if (ret &