diff options
Diffstat (limited to 'apps/mavlink/mavlink.c')
| -rw-r--r-- | apps/mavlink/mavlink.c | 11 |
1 files changed, 8 insertions, 3 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index e3c8e5fa1..764c9ffed 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: @author Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without @@ -269,8 +269,13 @@ void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, uint8_t //TODO: Make this correct switch (c_status->state_machine) { case SYSTEM_STATE_PREFLIGHT: - *mavlink_state = MAV_STATE_UNINIT; - *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + if (c_status->preflight_gyro_calibration || c_status->preflight_mag_calibration) { + *mavlink_state = MAV_STATE_CALIBRATING; + *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + } else { + *mavlink_state = MAV_STATE_UNINIT; + *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + } break; case SYSTEM_STATE_STANDBY: |