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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-02 21:57:01 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-02 21:57:01 +0400 |
| commit | 220011914c01ef4050ca487059b0d317e6b53fb7 (patch) | |
| tree | 6fa016ffe42a71a176d079908d38a5766be904fe /src/modules/mavlink/mavlink.c | |
| parent | 911c2bdeeeb624c111c680b228e49d27391af484 (diff) | |
| download | px4-firmware-220011914c01ef4050ca487059b0d317e6b53fb7.tar.gz px4-firmware-220011914c01ef4050ca487059b0d317e6b53fb7.tar.bz2 px4-firmware-220011914c01ef4050ca487059b0d317e6b53fb7.zip | |
navigator: AUTO_READY nav state added, RTL implemented properly
Diffstat (limited to 'src/modules/mavlink/mavlink.c')
| -rw-r--r-- | src/modules/mavlink/mavlink.c | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index d4e4c027b..4d3c9dd2c 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -220,7 +220,9 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u } else if (v_status.main_state == MAIN_STATE_AUTO) { *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - if (control_mode.nav_state == NAV_STATE_NONE) { + if (control_mode.nav_state == NAV_STATE_NONE) { // failsafe, shouldn't happen + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; + } else if (control_mode.nav_state == NAV_STATE_READY) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; } else if (control_mode.nav_state == NAV_STATE_LOITER) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; |