diff options
Diffstat (limited to 'src/modules/mavlink/mavlink.c')
-rw-r--r-- | src/modules/mavlink/mavlink.c | 47 |
1 files changed, 25 insertions, 22 deletions
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 5406c35c2..4d975066f 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -199,8 +199,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u } /* arming state */ - if (v_status.arming_state == ARMING_STATE_ARMED - || v_status.arming_state == ARMING_STATE_ARMED_ERROR) { + if (armed.armed) { *mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; } @@ -208,33 +207,37 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u *mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; union px4_custom_mode custom_mode; custom_mode.data = 0; - 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_SEATBELT) { - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT; - } else if (v_status.main_state == MAIN_STATE_EASY) { - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY; - } else if (v_status.main_state == MAIN_STATE_AUTO) { + if (pos_sp_triplet.nav_state == NAV_STATE_NONE) { + /* use main state when navigator is not active */ + 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_SEATBELT) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT; + } else if (v_status.main_state == MAIN_STATE_EASY) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY; + } else if (v_status.main_state == MAIN_STATE_AUTO) { + *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; + } + } else { + /* use navigation state when navigator is active */ *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - // TODO get nav state - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; - /* - if (control_mode.nav_state == NAV_STATE_NONE) { // failsafe, shouldn't happen - custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; - } else if (control_mode.nav_state == NAV_STATE_READY) { + if (pos_sp_triplet.nav_state == NAV_STATE_READY) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; - } else if (control_mode.nav_state == NAV_STATE_LOITER) { + } else if (pos_sp_triplet.nav_state == NAV_STATE_LOITER) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; - } else if (control_mode.nav_state == NAV_STATE_MISSION) { + } else if (pos_sp_triplet.nav_state == NAV_STATE_MISSION) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; - } else if (control_mode.nav_state == NAV_STATE_RTL) { + } else if (pos_sp_triplet.nav_state == NAV_STATE_RTL) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; + } else if (pos_sp_triplet.nav_state == NAV_STATE_LAND) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; } - */ } *mavlink_custom_mode = custom_mode.data; |