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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-16 17:34:21 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-16 17:34:21 +0200 |
| commit | e0ed0625f81841194b4bd9b26c7e047a1f68a1fc (patch) | |
| tree | 3c67d0fb275441ba3f8856f81e4803664b2cbac3 /src/modules/mavlink | |
| parent | 91f0b9eee41a8446c0a5ec455fbe3853c5c3eee3 (diff) | |
| download | px4-firmware-e0ed0625f81841194b4bd9b26c7e047a1f68a1fc.tar.gz px4-firmware-e0ed0625f81841194b4bd9b26c7e047a1f68a1fc.tar.bz2 px4-firmware-e0ed0625f81841194b4bd9b26c7e047a1f68a1fc.zip | |
commander: failsafe_state removed, replaced with bool failsafe, navigation state and failsafe determined directly from main state and conditions
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 4 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.h | 2 |
2 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index b58fb4cb8..d7f56b63d 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -118,7 +118,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set union px4_custom_mode custom_mode; custom_mode.data = 0; - switch (status->set_nav_state) { + switch (status->nav_state) { case NAVIGATION_STATE_MANUAL: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED @@ -161,8 +161,6 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set break; case NAVIGATION_STATE_AUTO_RTL: - case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS: - case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 9ab84b58a..ab3dc81c6 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -112,6 +112,7 @@ private: void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg); void handle_message_radio_status(mavlink_message_t *msg); void handle_message_manual_control(mavlink_message_t *msg); + void handle_message_heartbeat(mavlink_message_t *msg); void handle_message_hil_sensor(mavlink_message_t *msg); void handle_message_hil_gps(mavlink_message_t *msg); void handle_message_hil_state_quaternion(mavlink_message_t *msg); @@ -138,6 +139,7 @@ private: orb_advert_t _telemetry_status_pub; orb_advert_t _rc_pub; orb_advert_t _manual_pub; + hrt_abstime _telemetry_heartbeat_time; int _hil_frames; uint64_t _old_timestamp; bool _hil_local_proj_inited; |