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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-23 23:08:12 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-23 23:08:12 +0200 |
| commit | c42c28ebf4419e26bf3139250a1830544c18d299 (patch) | |
| tree | 911126a071d9cce8f9e6ba7ef6501fff5277a41a /src/modules/mavlink/mavlink.c | |
| parent | 6865c1f599423a87b73188638961a734ea71db41 (diff) | |
| parent | 5e9b508ea0ec799ab6f8723d114c999beffc347e (diff) | |
| download | px4-firmware-c42c28ebf4419e26bf3139250a1830544c18d299.tar.gz px4-firmware-c42c28ebf4419e26bf3139250a1830544c18d299.tar.bz2 px4-firmware-c42c28ebf4419e26bf3139250a1830544c18d299.zip | |
Merge branch 'seatbelt_multirotor_new' of github.com:PX4/Firmware into multirotor
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 f39bbaa72..0a506b1a9 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 |