Rover: added HOLD mode

used when RTL completes

APMrover2/APMrover2.pde

@@ -863,6 +863,12 @@ static void update_current_mode(void)
         g.channel_steer.servo_out = g.channel_steer.pwm_to_angle();
         break;
 
+    case HOLD:
+        // hold position - stop motors and center steering
+        g.channel_throttle.servo_out = 0;
+        g.channel_steer.servo_out = 0;
+        break;
+
     case INITIALISING:
         break;
 	}
@@ -872,6 +878,7 @@ static void update_navigation()
 {
     switch (control_mode) {
     case MANUAL:
+    case HOLD:
     case LEARNING:
     case STEERING:
     case INITIALISING:
@@ -888,7 +895,7 @@ static void update_navigation()
         calc_bearing_error();
         if (verify_RTL()) {  
             g.channel_throttle.servo_out = g.throttle_min.get();
-            set_mode(MANUAL);
+            set_mode(HOLD);
         }
         break;
 	}

APMrover2/GCS_Mavlink.pde

@@ -54,6 +54,9 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
     case INITIALISING:
         system_status = MAV_STATE_CALIBRATING;
         break;
+    case HOLD:
+        system_status = 0;
+        break;
     }
 
 #if ENABLE_STICK_MIXING==ENABLED
@@ -132,6 +135,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
 
     switch (control_mode) {
     case MANUAL:
+    case HOLD:
         break;
 
     case LEARNING:
@@ -1074,6 +1078,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             }
             switch (packet.custom_mode) {
             case MANUAL:
+            case HOLD:
             case LEARNING:
             case STEERING:
             case AUTO:

APMrover2/Parameters.pde

@@ -307,7 +307,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 
     // @Param: MODE1
     // @DisplayName: Mode1
-    // @Values: 0:Manual,2:LEARNING,3:STEERING,10:Auto,11:RTL,15:Guided
+    // @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided
     // @User: Standard
     // @Description: Driving mode for switch position 1 (910 to 1230 and above 2049)
 	GSCALAR(mode1,           "MODE1",         MODE_1),
@@ -315,35 +315,35 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: MODE2
     // @DisplayName: Mode2
     // @Description: Driving mode for switch position 2 (1231 to 1360)
-    // @Values: 0:Manual,2:LEARNING,3:STEERING,10:Auto,11:RTL,15:Guided
+    // @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided
     // @User: Standard
 	GSCALAR(mode2,           "MODE2",         MODE_2),
 
     // @Param: MODE3
     // @DisplayName: Mode3
     // @Description: Driving mode for switch position 3 (1361 to 1490)
-    // @Values: 0:Manual,2:LEARNING,3:STEERING,10:Auto,11:RTL,15:Guided
+    // @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided
     // @User: Standard
 	GSCALAR(mode3,           "MODE3",         MODE_3),
 
     // @Param: MODE4
     // @DisplayName: Mode4
     // @Description: Driving mode for switch position 4 (1491 to 1620)
-    // @Values: 0:Manual,2:LEARNING,3:STEERING,10:Auto,11:RTL,15:Guided
+    // @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided
     // @User: Standard
 	GSCALAR(mode4,           "MODE4",         MODE_4),
 
     // @Param: MODE5
     // @DisplayName: Mode5
     // @Description: Driving mode for switch position 5 (1621 to 1749)
-    // @Values: 0:Manual,2:LEARNING,3:STEERING,10:Auto,11:RTL,15:Guided
+    // @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided
     // @User: Standard
 	GSCALAR(mode5,           "MODE5",         MODE_5),
 
     // @Param: MODE6
     // @DisplayName: Mode6
     // @Description: Driving mode for switch position 6 (1750 to 2049)
-    // @Values: 0:Manual,2:LEARNING,3:STEERING,10:Auto,11:RTL,15:Guided
+    // @Values: 0:Manual,2:LEARNING,3:STEERING,4:HOLD,10:Auto,11:RTL,15:Guided
     // @User: Standard
 	GSCALAR(mode6,           "MODE6",         MODE_6),
 

APMrover2/commands_logic.pde

@@ -109,8 +109,8 @@ static void handle_process_do_command()
 
 static void handle_no_commands()
 {      
-	gcs_send_text_fmt(PSTR("No commands - setting MANUAL"));
-    set_mode(MANUAL);
+	gcs_send_text_fmt(PSTR("No commands - setting HOLD"));
+    set_mode(HOLD);
 }
 
 /********************************************************************************/

APMrover2/defines.h

@@ -66,6 +66,7 @@ enum mode {
     MANUAL=0,
 	LEARNING=2,
     STEERING=3,
+    HOLD=4,
     AUTO=10,
     RTL=11,
     GUIDED=15,

APMrover2/events.pde

@@ -21,6 +21,7 @@ static void failsafe_long_on_event(int fstype)
 			break;
 			
 		case RTL: 
+        case HOLD: 
 		default:
 			break;
 	}

APMrover2/setup.pde

@@ -338,6 +338,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 
 			while (
 				mode != MANUAL &&
+				mode != HOLD &&
 				mode != LEARNING &&
 				mode != STEERING &&
 				mode != AUTO &&

APMrover2/system.pde

@@ -314,6 +314,7 @@ static void set_mode(enum mode mode)
 	switch(control_mode)
 	{
 		case MANUAL:
+		case HOLD:
 		case LEARNING:
 		case STEERING:
 			break;
@@ -495,6 +496,9 @@ print_mode(uint8_t mode)
     case MANUAL:
         cliSerial->println_P(PSTR("Manual"));
         break;
+    case HOLD:
+        cliSerial->println_P(PSTR("HOLD"));
+        break;
     case LEARNING:
         cliSerial->println_P(PSTR("Learning"));
         break;