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| author | Julian Oes <julian@oes.ch> | 2014-06-19 10:26:56 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-19 10:26:56 +0200 |
| commit | 62faa2ee5155253779d3b93c5a280e8918585f6e (patch) | |
| tree | 1e9dfd8678df95098333ded38484fb509ecddeb4 /src/modules/mavlink/mavlink_messages.cpp | |
| parent | 94e004955df3f467b7e67b3fac0d968b9a68e091 (diff) | |
| download | px4-firmware-62faa2ee5155253779d3b93c5a280e8918585f6e.tar.gz px4-firmware-62faa2ee5155253779d3b93c5a280e8918585f6e.tar.bz2 px4-firmware-62faa2ee5155253779d3b93c5a280e8918585f6e.zip | |
commander/navigator: renamed FS modes to RTL and RTGS (return to ground station)
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index d7f56b63d..1fd8b1a27 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -176,6 +176,14 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; break; + case NAVIGATION_STATE_AUTO_RTGS: + *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; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS; + break; + case NAVIGATION_STATE_TERMINATION: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; |