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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-29 11:00:15 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-29 11:00:15 +0100 |
| commit | c652f718c0d2ab78fd80f503d5932ecf526136a9 (patch) | |
| tree | 763656259754c8c786ae1577643eecf7d895d9b7 /apps/mavlink | |
| parent | be85589e48cdc1b297bffe8e492cd7d69f949b4b (diff) | |
| download | px4-firmware-c652f718c0d2ab78fd80f503d5932ecf526136a9.tar.gz px4-firmware-c652f718c0d2ab78fd80f503d5932ecf526136a9.tar.bz2 px4-firmware-c652f718c0d2ab78fd80f503d5932ecf526136a9.zip | |
Minor fixes, pushing WIP
Diffstat (limited to 'apps/mavlink')
| -rw-r--r-- | apps/mavlink/mavlink.c | 30 |
1 files changed, 24 insertions, 6 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 3351d9cfd..ccc9d6d7d 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -189,10 +189,34 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) *mavlink_mode = 0; /* set mode flags independent of system state */ + + /* HIL */ if (v_status.flag_hil_enabled) { *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; } + /* manual input */ + if (v_status.flag_control_manual_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + } + + /* attitude or rate control */ + if (v_status.flag_control_attitude_enabled || + v_status.flag_control_rates_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; + } + + /* vector control */ + if (v_status.flag_control_velocity_enabled || + v_status.flag_control_position_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; + } + + /* autonomous mode */ + if (v_status.state_machine == SYSTEM_STATE_AUTO) { + *mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED; + } + /* set arming state */ if (armed.armed) { *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; @@ -221,20 +245,14 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) case SYSTEM_STATE_MANUAL: *mavlink_state = MAV_STATE_ACTIVE; - *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; break; case SYSTEM_STATE_STABILIZED: *mavlink_state = MAV_STATE_ACTIVE; - *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; - *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; break; case SYSTEM_STATE_AUTO: *mavlink_state = MAV_STATE_ACTIVE; - *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; - *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; - *mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED; break; case SYSTEM_STATE_MISSION_ABORT: |