diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 933478f56..70087cf3e 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -118,7 +118,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set union px4_custom_mode custom_mode; custom_mode.data = 0; - if (pos_sp_triplet->nav_state == NAV_STATE_NONE) { + if (pos_sp_triplet->nav_state == NAV_STATE_NONE_ON_GROUND + || pos_sp_triplet->nav_state == NAV_STATE_NONE_IN_AIR) { /* use main state when navigator is not active */ if (status->main_state == MAIN_STATE_MANUAL) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); @@ -147,7 +148,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set *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; - if (pos_sp_triplet->nav_state == NAV_STATE_READY) { + if (pos_sp_triplet->nav_state == NAV_STATE_AUTO_ON_GROUND) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; } else if (pos_sp_triplet->nav_state == NAV_STATE_LOITER) { @@ -544,8 +545,8 @@ protected: gps->lat, gps->lon, gps->alt, - cm_uint16_from_m_float(gps->eph_m), - cm_uint16_from_m_float(gps->epv_m), + cm_uint16_from_m_float(gps->eph), + cm_uint16_from_m_float(gps->epv), gps->vel_m_s * 100.0f, _wrap_2pi(gps->cog_rad) * M_RAD_TO_DEG_F * 1e2f, gps->satellites_visible); |