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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-21 14:39:17 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-21 14:39:17 +0200 |
| commit | 9c75b9562e904210389a497c8baa46374cbc9927 (patch) | |
| tree | 4766939fc3f070e1dba706bcef7740cbc58e39ee /src/modules/mavlink/mavlink_main.cpp | |
| parent | 3cbfe989c793377cc5eac627c5f12573655b3ad2 (diff) | |
| download | px4-firmware-9c75b9562e904210389a497c8baa46374cbc9927.tar.gz px4-firmware-9c75b9562e904210389a497c8baa46374cbc9927.tar.bz2 px4-firmware-9c75b9562e904210389a497c8baa46374cbc9927.zip | |
Be more permissive with mission component IDs, renamed camera to onboard link but still accepting same commandline syntax
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index c27716f74..d702179f0 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1229,7 +1229,10 @@ Mavlink::task_main(int argc, char *argv[]) _mode = MAVLINK_MODE_CUSTOM; } else if (strcmp(optarg, "camera") == 0) { - _mode = MAVLINK_MODE_CAMERA; + // left in here for compatibility + _mode = MAVLINK_MODE_ONBOARD; + } else if (strcmp(optarg, "onboard") == 0) { + _mode = MAVLINK_MODE_ONBOARD; } break; @@ -1289,8 +1292,8 @@ Mavlink::task_main(int argc, char *argv[]) warnx("mode: CUSTOM"); break; - case MAVLINK_MODE_CAMERA: - warnx("mode: CAMERA"); + case MAVLINK_MODE_ONBOARD: + warnx("mode: ONBOARD"); break; default: @@ -1393,9 +1396,10 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f); configure_stream("ATTITUDE_TARGET", 3.0f); configure_stream("DISTANCE_SENSOR", 0.5f); + configure_stream("OPTICAL_FLOW", 0.5f); break; - case MAVLINK_MODE_CAMERA: + case MAVLINK_MODE_ONBOARD: configure_stream("SYS_STATUS", 1.0f); configure_stream("ATTITUDE", 15.0f); configure_stream("GLOBAL_POSITION_INT", 15.0f); |