diff options
| author | Julian Oes <joes@student.ethz.ch> | 2013-02-21 13:06:56 -0800 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2013-02-21 13:06:56 -0800 |
| commit | ebe0285ce7964ac1a81a65bae417e978cf366466 (patch) | |
| tree | 4ed1344991cee2e50906df7023c4440378d23b65 /apps/mavlink/mavlink.c | |
| parent | 0e29f2505a599d473244b0bb7e4b309d392ebb3c (diff) | |
| download | px4-firmware-ebe0285ce7964ac1a81a65bae417e978cf366466.tar.gz px4-firmware-ebe0285ce7964ac1a81a65bae417e978cf366466.tar.bz2 px4-firmware-ebe0285ce7964ac1a81a65bae417e978cf366466.zip | |
Checkpoint: navigation state machine as discussed with Lorenz
Diffstat (limited to 'apps/mavlink/mavlink.c')
| -rw-r--r-- | apps/mavlink/mavlink.c | 55 |
1 files changed, 35 insertions, 20 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index e25f1be27..34b267d56 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -205,36 +205,40 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) } /* autonomous mode */ - if (v_status.navigation_state == NAVIGATION_STATE_MISSION - || v_status.navigation_state == NAVIGATION_STATE_TAKEOFF - || v_status.navigation_state == NAVIGATION_STATE_RTL - || v_status.navigation_state == NAVIGATION_STATE_LAND - || v_status.navigation_state == NAVIGATION_STATE_AUTO_READY) { + if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND + || v_status.navigation_state == NAVIGATION_STATE_AUTO_LOITER + || v_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION + || v_status.navigation_state == NAVIGATION_STATE_AUTO_READY + || v_status.navigation_state == NAVIGATION_STATE_AUTO_RTL + || v_status.navigation_state == NAVIGATION_STATE_AUTO_STANDBY + || v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { *mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED; } /* set arming state */ - if (v_status.flag_system_armed) { + if (v_status.arming_state == ARMING_STATE_ARMED + || v_status.arming_state == ARMING_STATE_ARMED_ERROR) { *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; } else { *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; } - if (v_status.navigation_state == NAVIGATION_STATE_MANUAL) { + if (v_status.navigation_state == NAVIGATION_STATE_MANUAL + || v_status.navigation_state == NAVIGATION_STATE_MANUAL_STANDBY) { *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; } - if (v_status.navigation_state == NAVIGATION_STATE_SEATBELT) { - - *mavlink_mode |= MAV_MODE_FLAG_DECODE_POSITION_GUIDED; - } - - if (v_status.navigation_state == NAVIGATION_STATE_SEATBELT) { - - *mavlink_mode |= MAV_MODE_FLAG_DECODE_POSITION_GUIDED; - } +// if (v_status.system_state == NAVIGATION_STATE_SEATBELT) { +// +// *mavlink_mode |= MAV_MODE_FLAG_DECODE_POSITION_GUIDED; +// } +// +// if (v_status.system_state == NAVIGATION_STATE_SEATBELT) { +// +// *mavlink_mode |= MAV_MODE_FLAG_DECODE_POSITION_GUIDED; +// } /** @@ -248,19 +252,30 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) *mavlink_state = MAV_STATE_CALIBRATING; - } else if (v_status.arming_state == ARMING_STATE_ERROR || v_status.arming_state == ARMING_STATE_ABORT) { + } else if (v_status.flag_system_emergency) { *mavlink_state = MAV_STATE_EMERGENCY; - } else if (v_status.arming_state == ARMING_STATE_ARMED || v_status.arming_state == ARMING_STATE_IN_AIR_RESTORE) { + // XXX difference between active and armed? is AUTO_READY active? + } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND + || v_status.navigation_state == NAVIGATION_STATE_AUTO_LOITER + || v_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION + || v_status.navigation_state == NAVIGATION_STATE_AUTO_RTL + || v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF + || v_status.navigation_state == NAVIGATION_STATE_SEATBELT + || v_status.navigation_state == NAVIGATION_STATE_SEATBELT_DESCENT + || v_status.navigation_state == NAVIGATION_STATE_MANUAL) { *mavlink_state = MAV_STATE_ACTIVE; - } else if (v_status.arming_state == ARMING_STATE_STANDBY) { + } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_STANDBY + || v_status.navigation_state == NAVIGATION_STATE_AUTO_READY // XXX correct? + || v_status.navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY + || v_status.navigation_state == NAVIGATION_STATE_MANUAL_STANDBY) { *mavlink_state = MAV_STATE_STANDBY; - } else if (v_status.arming_state == ARMING_STATE_INIT) { + } else if (v_status.navigation_state == NAVIGATION_STATE_INIT) { *mavlink_state = MAV_STATE_UNINIT; } else { |