diff options
Diffstat (limited to 'src/modules/mavlink/mavlink.c')
| -rw-r--r-- | src/modules/mavlink/mavlink.c | 53 |
1 files changed, 15 insertions, 38 deletions
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index ae8e168e1..9132d1b49 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -196,13 +196,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) } /* autonomous mode */ - if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND - || v_status.navigation_state == NAVIGATION_STATE_AUTO_LOITER - || v_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION - || v_status.navigation_state == NAVIGATION_STATE_AUTO_READY - || v_status.navigation_state == NAVIGATION_STATE_AUTO_RTL - || v_status.navigation_state == NAVIGATION_STATE_AUTO_STANDBY - || v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { + if (v_status.main_state == MAIN_STATE_AUTO) { *mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED; } @@ -215,15 +209,14 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; } - if (v_status.navigation_state == NAVIGATION_STATE_MANUAL - || v_status.navigation_state == NAVIGATION_STATE_MANUAL_STANDBY) { + if (v_status.main_state == MAIN_STATE_MANUAL + || v_status.main_state == MAIN_STATE_SEATBELT + || v_status.main_state == MAIN_STATE_EASY) { *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; } - if (v_status.navigation_state == NAVIGATION_STATE_ASSISTED_SEATBELT - || v_status.navigation_state == NAVIGATION_STATE_ASSISTED_DESCENT - || v_status.navigation_state == NAVIGATION_STATE_ASSISTED_STANDBY) { + if (v_status.navigation_state == MAIN_STATE_EASY) { *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; } @@ -235,41 +228,25 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) /* set calibration state */ if (v_status.preflight_calibration) { - *mavlink_state = MAV_STATE_CALIBRATING; - } else if (v_status.system_emergency) { - *mavlink_state = MAV_STATE_EMERGENCY; - - // XXX difference between active and armed? is AUTO_READY active? - } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND - || v_status.navigation_state == NAVIGATION_STATE_AUTO_LOITER - || v_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION - || v_status.navigation_state == NAVIGATION_STATE_AUTO_RTL - || v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF - || v_status.navigation_state == NAVIGATION_STATE_ASSISTED_SEATBELT - || v_status.navigation_state == NAVIGATION_STATE_ASSISTED_DESCENT - || v_status.navigation_state == NAVIGATION_STATE_MANUAL) { - + } else if (v_status.arming_state == ARMING_STATE_INIT + || v_status.arming_state == ARMING_STATE_IN_AIR_RESTORE + || v_status.arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review + *mavlink_state = MAV_STATE_UNINIT; + } else if (v_status.arming_state == ARMING_STATE_ARMED) { *mavlink_state = MAV_STATE_ACTIVE; - - } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_STANDBY - || v_status.navigation_state == NAVIGATION_STATE_AUTO_READY // XXX correct? - || v_status.navigation_state == NAVIGATION_STATE_ASSISTED_STANDBY - || v_status.navigation_state == NAVIGATION_STATE_MANUAL_STANDBY) { - + } else if (v_status.arming_state == ARMING_STATE_ARMED_ERROR) { + *mavlink_state = MAV_STATE_CRITICAL; + } else if (v_status.arming_state == ARMING_STATE_STANDBY) { *mavlink_state = MAV_STATE_STANDBY; - - } else if (v_status.navigation_state == NAVIGATION_STATE_INIT) { - - *mavlink_state = MAV_STATE_UNINIT; + } else if (v_status.arming_state == ARMING_STATE_REBOOT) { + *mavlink_state = MAV_STATE_POWEROFF; } else { - warnx("Unknown mavlink state"); *mavlink_state = MAV_STATE_CRITICAL; } - } |