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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-14 10:59:22 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-14 10:59:22 +0200 |
| commit | d7730a3444b1c4277bca24988402839a98a52fdc (patch) | |
| tree | 2b01ce80361b8336f48d324ab4b44a6d80a00ba3 /src/modules/mavlink/orb_listener.c | |
| parent | 32439d748ad169f6f9956fb3248535730e0374a4 (diff) | |
| download | px4-firmware-d7730a3444b1c4277bca24988402839a98a52fdc.tar.gz px4-firmware-d7730a3444b1c4277bca24988402839a98a52fdc.tar.bz2 px4-firmware-d7730a3444b1c4277bca24988402839a98a52fdc.zip | |
commander, mavlink: fixed base_mode and custom_mode in mavlink
Diffstat (limited to 'src/modules/mavlink/orb_listener.c')
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 22 |
1 files changed, 12 insertions, 10 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index d088d421e..2a260861d 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -279,15 +279,16 @@ l_vehicle_status(const struct listener *l) /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0; - uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); + uint8_t mavlink_base_mode = 0; + uint32_t mavlink_custom_mode = 0; + get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); /* send heartbeat */ mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, - mavlink_mode, - v_status.navigation_state, + mavlink_base_mode, + mavlink_custom_mode, mavlink_state); } @@ -473,8 +474,9 @@ l_actuator_outputs(const struct listener *l) /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0; - uint8_t mavlink_mode = 0; - get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode); + uint8_t mavlink_base_mode = 0; + uint32_t mavlink_custom_mode = 0; + get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); /* HIL message as per MAVLink spec */ @@ -491,7 +493,7 @@ l_actuator_outputs(const struct listener *l) -1, -1, -1, - mavlink_mode, + mavlink_base_mode, 0); } else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) { @@ -505,7 +507,7 @@ l_actuator_outputs(const struct listener *l) ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, -1, -1, - mavlink_mode, + mavlink_base_mode, 0); } else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) { @@ -519,7 +521,7 @@ l_actuator_outputs(const struct listener *l) ((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f, ((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f, ((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f, - mavlink_mode, + mavlink_base_mode, 0); } else { @@ -533,7 +535,7 @@ l_actuator_outputs(const struct listener *l) (act_outputs.output[5] - 1500.0f) / 500.0f, (act_outputs.output[6] - 1500.0f) / 500.0f, (act_outputs.output[7] - 1500.0f) / 500.0f, - mavlink_mode, + mavlink_base_mode, 0); } } |