Ardupilot添加一个新模式全攻略，以Copter为例

Ardupilot添加一个新mode在官网有比较详细的教程，此外网络上各路大佬也写过不少这类教程，鉴于项目不停的更新，以往教程已经不适合新版本。本博客参考官网，完成添加一个新mode，并能够在MVPROXY发送指令中使飞行器进入新mode。

“切换模式”代码框架

官网提供给我们一个比较完整的mode调用时的代码框架。

调试方法

我们知道c语言中printf()是一个非常耐打的调试工具，此处也不例外，本文使用了强大的 gcs().send_text(MAV_SEVERITY_INFO, "hello");就是可以在console中输出一段话（hello）。

2、添加control_mode_t

首先我们看Copter接受到MAVLINK切换mode后的处理函数：

bool GCS_MAVLINK_Copter::set_mode(const uint8_t mode)
{
#ifdef DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE
    if (copter.failsafe.radio) {
        // don't allow mode changes while in radio failsafe
        return false;
    }
#endif
    return copter.set_mode((control_mode_t)mode, MODE_REASON_GCS_COMMAND);
}

此处mvlink传来的参数是uint8_t格式，使用 gcs().send_text()我们可以发现这是一个数字，最后在return中使用(control_mode_t)转化成了mode名，我们打开control_mode_t{}:

// Auto Pilot Modes enumeration
enum control_mode_t {
    STABILIZE =     0,  // manual airframe angle with manual throttle
    ACRO =          1,  // manual body-frame angular rate with manual throttle
    ALT_HOLD =      2,  // manual airframe angle with automatic throttle
    AUTO =          3,  // fully automatic waypoint control using mission commands
    GUIDED =        4,  // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
    LOITER =        5,  // automatic horizontal acceleration with automatic throttle
    RTL =           6,  // automatic return to launching point
    CIRCLE =        7,  // automatic circular flight with automatic throttle
    LAND =          9,  // automatic landing with horizontal position control
    DRIFT =        11,  // semi-automous position, yaw and throttle control
    SPORT =        13,  // manual earth-frame angular rate control with manual throttle
    FLIP =         14,  // automatically flip the vehicle on the roll axis
    AUTOTUNE =     15,  // automatically tune the vehicle's roll and pitch gains
    POSHOLD =      16,  // automatic position hold with manual override, with automatic throttle
    BRAKE =        17,  // full-brake using inertial/GPS system, no pilot input
    THROW =        18,  // throw to launch mode using inertial/GPS system, no pilot input
    AVOID_ADSB =   19,  // automatic avoidance of obstacles in the macro scale - e.g. full-sized aircraft
    GUIDED_NOGPS = 20,  // guided mode but only accepts attitude and altitude
    SMART_RTL =    21,  // SMART_RTL returns to home by retracing its steps
    FLOWHOLD  =    22,  // FLOWHOLD holds position with optical flow without rangefinder
    FOLLOW    =    23,  // follow attempts