diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 13 |
1 files changed, 6 insertions, 7 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index f7ac24341..74cd5e36a 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -323,11 +323,10 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe switch (cmd->command) { case VEHICLE_CMD_DO_SET_MODE: { uint8_t base_mode = (uint8_t) cmd->param1; - union px4_custom_mode custom_mode; - custom_mode.data_float = cmd->param2; + uint8_t custom_main_mode = (uint8_t) cmd->param2; // TODO remove debug code - mavlink_log_critical(mavlink_fd, "[cmd] command setmode: %d %d", base_mode, custom_mode); + mavlink_log_critical(mavlink_fd, "[cmd] command setmode: %d %d", base_mode, custom_main_mode); /* set arming state */ transition_result_t arming_res = TRANSITION_NOT_CHANGED; @@ -357,19 +356,19 @@ void handle_command(struct vehicle_status_s *status, const struct safety_s *safe if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) { /* use autopilot-specific mode */ - if (custom_mode.main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) { + if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) { /* MANUAL */ main_res = main_state_transition(status, MAIN_STATE_MANUAL); - } else if (custom_mode.main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) { + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) { /* SEATBELT */ main_res = main_state_transition(status, MAIN_STATE_SEATBELT); - } else if (custom_mode.main_mode == PX4_CUSTOM_MAIN_MODE_EASY) { + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_EASY) { /* EASY */ main_res = main_state_transition(status, MAIN_STATE_EASY); - } else if (custom_mode.main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { /* AUTO */ main_res = main_state_transition(status, MAIN_STATE_AUTO); } |