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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-23 23:03:59 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-23 23:03:59 +0200 |
| commit | 5e9b508ea0ec799ab6f8723d114c999beffc347e (patch) | |
| tree | 635d8c3256b8079ac83819fad4e48dca1e7e195e /src/modules/mavlink/mavlink.c | |
| parent | 330908225e5fcb1731df20e740dbfe403a7b30b9 (diff) | |
| download | px4-firmware-5e9b508ea0ec799ab6f8723d114c999beffc347e.tar.gz px4-firmware-5e9b508ea0ec799ab6f8723d114c999beffc347e.tar.bz2 px4-firmware-5e9b508ea0ec799ab6f8723d114c999beffc347e.zip | |
Indicate AUTO submodes in mavlink custom_mode.
Diffstat (limited to 'src/modules/mavlink/mavlink.c')
| -rw-r--r-- | src/modules/mavlink/mavlink.c | 24 |
1 files changed, 20 insertions, 4 deletions
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 6d9ca1120..93ec36d05 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -205,19 +205,35 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u /* main state */ *mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; + union px4_custom_mode custom_mode; + custom_mode.data = 0; if (v_status.main_state == MAIN_STATE_MANUAL) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); - *mavlink_custom_mode = PX4_CUSTOM_MODE_MANUAL; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; } else if (v_status.main_state == MAIN_STATE_SEATBELT) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; - *mavlink_custom_mode = PX4_CUSTOM_MODE_SEATBELT; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT; } else if (v_status.main_state == MAIN_STATE_EASY) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; - *mavlink_custom_mode = PX4_CUSTOM_MODE_EASY; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY; } 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; - *mavlink_custom_mode = PX4_CUSTOM_MODE_AUTO; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + if (v_status.navigation_state == NAVIGATION_STATE_AUTO_READY) { + 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) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; + } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_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; /** * Set mavlink state |