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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-27 20:49:17 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-27 20:49:17 +0100 |
| commit | d1508a7813ad09a173fe314608c25dc8c3cd7a1f (patch) | |
| tree | d64626377328360b98c0d7229adb6600a9ef4308 /src/modules/mavlink/mavlink.c | |
| parent | 20108ed95d5bbae64bfcb95de5404fa97d9d0ac1 (diff) | |
| download | px4-firmware-d1508a7813ad09a173fe314608c25dc8c3cd7a1f.tar.gz px4-firmware-d1508a7813ad09a173fe314608c25dc8c3cd7a1f.tar.bz2 px4-firmware-d1508a7813ad09a173fe314608c25dc8c3cd7a1f.zip | |
vehicle_control_mode publication moved to commander, WIP
Diffstat (limited to 'src/modules/mavlink/mavlink.c')
| -rw-r--r-- | src/modules/mavlink/mavlink.c | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 4f8091716..5406c35c2 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -220,6 +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; + // TODO get nav state + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; + /* 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) { @@ -231,6 +234,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u } else if (control_mode.nav_state == NAV_STATE_RTL) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; } + */ } *mavlink_custom_mode = custom_mode.data; |