diff options
Diffstat (limited to 'apps/mavlink/mavlink.c')
| -rw-r--r-- | apps/mavlink/mavlink.c | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 77034914f..575b42b37 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -189,10 +189,6 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) *mavlink_mode = 0; /* set mode flags independent of system state */ - if (v_status.flag_control_manual_enabled) { - *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; - } - if (v_status.flag_hil_enabled) { *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; } @@ -231,11 +227,14 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) case SYSTEM_STATE_STABILIZED: *mavlink_state = MAV_STATE_ACTIVE; *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; + *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; break; case SYSTEM_STATE_AUTO: *mavlink_state = MAV_STATE_ACTIVE; *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; + *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; + *mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED; break; case SYSTEM_STATE_MISSION_ABORT: |