I am trying to figure out how to send commands through a serial connection to my IRIS+ to change the flight mode.
I changed the modes with the transmitter and captured the values for 'Base_Mode' and 'Custom_Mode' as reported by the Heartbeat packet. I was seeing things like:
AltHold (quad disarmed): Base_Mode=81 , Custom_Mode=2
Loiter (quad disarmed): Base_Mode=89 , Custom_Mode=5
Auto (quad disarmed): Base_Mode=89 , Custom_Mode=3
RTL (quad disarmed): Base_Mode=89 , Custom_Mode=6
AltHold (quad armed): Base_Mode=209 , Custom_Mode=2
Loiter (quad armed): Base_Mode=217 , Custom_Mode=5
Auto (quad armed): Base_Mode=217 , Custom_Mode=3
RTL (quad armed): Base_Mode=217 , Custom_Mode=6
First, any idea what these Base_Mode values mean?
Second, how can i formulate a command to send to the quad to change the mode between AltHold/Loiter/Auto/Etc.?
I am using a C# application, so any code samples would be great. Thanks!