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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-04 21:55:12 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-04 21:55:12 +0100 |
| commit | 3b2b270a40e0d8528339fe7cde5e0af91684fb97 (patch) | |
| tree | 852b2bb0a198104f48b3953c7a517c69fe4e0aa2 /src/modules | |
| parent | 6e7136c6b3f953c26cf75c9f8b777a6a7c84ea9a (diff) | |
| download | px4-firmware-3b2b270a40e0d8528339fe7cde5e0af91684fb97.tar.gz px4-firmware-3b2b270a40e0d8528339fe7cde5e0af91684fb97.tar.bz2 px4-firmware-3b2b270a40e0d8528339fe7cde5e0af91684fb97.zip | |
mavlink: custom mode ACRO added
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/commander/px4_custom_mode.h | 1 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink.c | 3 |
2 files changed, 4 insertions, 0 deletions
diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index b60a7e0b9..d69ab3067 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -13,6 +13,7 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_SEATBELT, PX4_CUSTOM_MAIN_MODE_EASY, PX4_CUSTOM_MAIN_MODE_AUTO, + PX4_CUSTOM_MAIN_MODE_ACRO, }; enum PX4_CUSTOM_SUB_MODE_AUTO { diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 4d975066f..22465a3da 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -212,6 +212,9 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u if (v_status.main_state == MAIN_STATE_MANUAL) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; + } else if (v_status.main_state == MAIN_STATE_ACRO) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO; } else if (v_status.main_state == MAIN_STATE_SEATBELT) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT; |