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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-31 19:30:41 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-31 19:30:41 +0400 |
| commit | 7f9a7ffe82372d311a7947284871d794a8934493 (patch) | |
| tree | 79ace5da7a22587c48f02a04df187460f2a0cff1 /src/modules/mavlink/mavlink.c | |
| parent | f6ee354c10026488c937568033a640d72a07cd14 (diff) | |
| download | px4-firmware-7f9a7ffe82372d311a7947284871d794a8934493.tar.gz px4-firmware-7f9a7ffe82372d311a7947284871d794a8934493.tar.bz2 px4-firmware-7f9a7ffe82372d311a7947284871d794a8934493.zip | |
navigator: MISSION_LOITER and RTL_LOITER modes removed
Diffstat (limited to 'src/modules/mavlink/mavlink.c')
| -rw-r--r-- | src/modules/mavlink/mavlink.c | 7 |
1 files changed, 2 insertions, 5 deletions
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index bc191f30d..d4e4c027b 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -220,17 +220,14 @@ 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 review if (control_mode.nav_state == NAV_STATE_NONE) { 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; - } 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 (control_mode.nav_state == NAV_STATE_RTL) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; } } *mavlink_custom_mode = custom_mode.data; |