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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-10 15:12:09 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-10 15:12:09 +0200 |
| commit | fb4bcf87ba036a2791f303deee8eeda4174bad61 (patch) | |
| tree | 45df857bb35d4b6a2f044bb1d1f24be035ccfa20 /src/modules/mavlink/mavlink_messages.cpp | |
| parent | 7bfcaafc1631cab603191777e2e63f69755e334d (diff) | |
| parent | 92766a8626fdf143e46159d9a7e367ade6ae4376 (diff) | |
| download | px4-firmware-fb4bcf87ba036a2791f303deee8eeda4174bad61.tar.gz px4-firmware-fb4bcf87ba036a2791f303deee8eeda4174bad61.tar.bz2 px4-firmware-fb4bcf87ba036a2791f303deee8eeda4174bad61.zip | |
Merge branch 'master' into mavlink_stack
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 748c1f69a..184726fe8 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -138,6 +138,10 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set *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_READY; + + } else if (status->main_state == MAIN_STATE_ACRO) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO; } } else { @@ -290,7 +294,7 @@ protected: status.onboard_control_sensors_health, status.load * 1000.0f, status.battery_voltage * 1000.0f, - status.battery_current * 1000.0f, + status.battery_current * 100.0f, status.battery_remaining * 100.0f, status.drop_rate_comm, status.errors_comm, @@ -305,7 +309,7 @@ protected: class MavlinkStreamHighresIMU : public MavlinkStream { public: - ~MavlinkStreamHighresIMU(); + ~MavlinkStreamHighresIMU() {}; const char *get_name() const { |