Added NONE = not mapped state for mission and return switches

3 files changed, 18 insertions, 16 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 98979df3e..03d3c02d1 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1392,7 +1392,7 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
 		current_status->mode_switch = MODE_SWITCH_ASSISTED;
 	}
 
-	/* land switch */
+	/* return switch */
 	if (!isfinite(sp_man->return_switch)) {
 		current_status->return_switch = RETURN_SWITCH_NONE;
 
@@ -1400,7 +1400,7 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
 		current_status->return_switch = RETURN_SWITCH_RETURN;
 
 	} else {
-		current_status->return_switch = RETURN_SWITCH_NONE;
+		current_status->return_switch = RETURN_SWITCH_NORMAL;
 	}
 
 	/* assisted switch */
@@ -1416,10 +1416,10 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
 
 	/* mission switch  */
 	if (!isfinite(sp_man->mission_switch)) {
-		current_status->mission_switch = MISSION_SWITCH_MISSION;
+		current_status->mission_switch = MISSION_SWITCH_NONE;
 
 	} else if (sp_man->mission_switch > STICK_ON_OFF_LIMIT) {
-		current_status->mission_switch = MISSION_SWITCH_NONE;
+		current_status->mission_switch = MISSION_SWITCH_LOITER;
 
 	} else {
 		current_status->mission_switch = MISSION_SWITCH_MISSION;
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index d9f037c27..9baf1a6af 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1372,18 +1372,6 @@ Sensors::rc_poll()
 			manual_control.yaw *= _parameters.rc_scale_yaw;
 		}
 
-		/* mode switch input */
-		manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
-
-		/* land switch input */
-		manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
-
-		/* assisted switch input */
-		manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
-
-		/* mission switch input */
-		manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
-
 		/* flaps */
 		if (_rc.function[FLAPS] >= 0) {
 
@@ -1394,14 +1382,26 @@ Sensors::rc_poll()
 			}
 		}
 
+		/* mode switch input */
 		if (_rc.function[MODE] >= 0) {
 			manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
 		}
 
+		/* assisted switch input */
+		if (_rc.function[ASSISTED] >= 0) {
+			manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
+		}
+
+		/* mission switch input */
 		if (_rc.function[MISSION] >= 0) {
 			manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
 		}
 
+		/* return switch input */
+		if (_rc.function[RETURN] >= 0) {
+			manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
+		}
+
 //		if (_rc.function[OFFBOARD_MODE] >= 0) {
 //			manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
 //		}
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index ae3a24a1b..1a9dec5f5 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -99,11 +99,13 @@ typedef enum {
 
 typedef enum {
 	RETURN_SWITCH_NONE = 0,
+	RETURN_SWITCH_NORMAL,
 	RETURN_SWITCH_RETURN
 } return_switch_pos_t;
 
 typedef enum {
 	MISSION_SWITCH_NONE = 0,
+	MISSION_SWITCH_LOITER,
 	MISSION_SWITCH_MISSION
 } mission_switch_pos_t;