Improved mode mapping for fixedwing_backside.

1 files changed, 12 insertions, 11 deletions

diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp
index d65045d68..dd067e5c4 100644
--- a/src/modules/fixedwing_backside/fixedwing.cpp
+++ b/src/modules/fixedwing_backside/fixedwing.cpp
@@ -156,7 +156,8 @@ void BlockMultiModeBacksideAutopilot::update()
 		_actuators.control[i] = 0.0f;
 
 	// only update guidance in auto mode
-	if (_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION) {	// TODO use vehicle_control_mode here?
+	if (_status.main_state == MAIN_STATE_AUTO) {
+		// TODO use vehicle_control_mode here?
 		// update guidance
 		_guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current);
 	}
@@ -166,14 +167,11 @@ void BlockMultiModeBacksideAutopilot::update()
 	// the setpoint should update to loitering around this position
 
 	// handle autopilot modes
-	if (_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION ||
-	    _status.navigation_state == NAVIGATION_STATE_STABILIZE) {	// TODO use vehicle_control_mode here?
+	if (_status.main_state != MAIN_STATE_AUTO) {
 
-		// update guidance
-		_guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current);
-
-		// calculate velocity, XXX should be airspeed, but using ground speed for now
-		// for the purpose of control we will limit the velocity feedback between
+		// calculate velocity, XXX should be airspeed,
+		// but using ground speed for now for the purpose 
+		// of control we will limit the velocity feedback between
 		// the min/max velocity
 		float v = _vLimit.update(sqrtf(
 					_pos.vx * _pos.vx +
@@ -218,19 +216,22 @@ void BlockMultiModeBacksideAutopilot::update()
 		// a first binary release can be targeted.
 		// This is not a hack, but a design choice.
 
-		/* do not limit in HIL */
+		// do not limit in HIL
 		if (_status.hil_state != HIL_STATE_ON) {
 			/* limit to value of manual throttle */
 			_actuators.control[CH_THR] = (_actuators.control[CH_THR] < _manual.throttle) ?
 						     _actuators.control[CH_THR] : _manual.throttle;
 		}
 
-	} else if (_status.navigation_state == NAVIGATION_STATE_DIRECT) {	// TODO use vehicle_control_mode here?
+	} else if (_status.main_state == MAIN_STATE_MANUAL) {
 		_actuators.control[CH_AIL] = _manual.roll;
 		_actuators.control[CH_ELV] = _manual.pitch;
 		_actuators.control[CH_RDR] = _manual.yaw;
 		_actuators.control[CH_THR] = _manual.throttle;
-	} else if (_status.navigation_state == NAVIGATION_STATE_STABILIZE) {	// TODO use vehicle_control_mode here?
+
+	} else if (_status.main_state == MAIN_STATE_SEATBELT ||
+		_status.main_state == MAIN_STATE_EASY /* TODO, implement easy */) {
+
 		// calculate velocity, XXX should be airspeed, but using ground speed for now
 		// for the purpose of control we will limit the velocity feedback between
 		// the min/max velocity