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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-29 22:38:22 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-29 22:38:41 +0400 |
| commit | fa20fae6fb627d19d9f3951e75058eb85ab8a10a (patch) | |
| tree | 1f1b925c3fe76278c6d0d2842937a00d209bcfe9 /src/modules/mavlink/mavlink.c | |
| parent | 95bdc1a9bd364ce95abe06b097579cc8a9162e33 (diff) | |
| download | px4-firmware-fa20fae6fb627d19d9f3951e75058eb85ab8a10a.tar.gz px4-firmware-fa20fae6fb627d19d9f3951e75058eb85ab8a10a.tar.bz2 px4-firmware-fa20fae6fb627d19d9f3951e75058eb85ab8a10a.zip | |
Some mavlink fixes to use vehicle_control_mode, WIP
Diffstat (limited to 'src/modules/mavlink/mavlink.c')
| -rw-r--r-- | src/modules/mavlink/mavlink.c | 20 |
1 files changed, 8 insertions, 12 deletions
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 4c38cf35a..bc191f30d 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -220,22 +220,18 @@ 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 use control_mode topic - /* - if (v_status.navigation_state == NAVIGATION_STATE_AUTO_READY) { + // TODO review + if (control_mode.nav_state == NAV_STATE_NONE) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; - } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF; - } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LOITER) { + } else if (control_mode.nav_state == NAV_STATE_LOITER) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; - } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION) { + } else if (control_mode.nav_state == NAV_STATE_MISSION_LOITER) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; + } else if (control_mode.nav_state == NAV_STATE_RTL_LOITER) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; + } else if (control_mode.nav_state == NAV_STATE_MISSION) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; - } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_RTL) { - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; - } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND) { - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; } - */ } *mavlink_custom_mode = custom_mode.data; |