diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 20 |
1 files changed, 12 insertions, 8 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index ec90cf599..70087cf3e 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -125,18 +125,22 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; - } else if (status->main_state == MAIN_STATE_SEATBELT) { + } else if (status->main_state == MAIN_STATE_ALTCTL) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL; - } else if (status->main_state == MAIN_STATE_EASY) { + } else if (status->main_state == MAIN_STATE_POSCTL) { *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; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; } else if (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 if (status->main_state == MAIN_STATE_ACRO) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO; } } else { @@ -1139,10 +1143,10 @@ protected: if (manual_sub->update(t)) { mavlink_msg_manual_control_send(_channel, mavlink_system.sysid, - manual->roll * 1000, - manual->pitch * 1000, - manual->yaw * 1000, - manual->throttle * 1000, + manual->x * 1000, + manual->y * 1000, + manual->z * 1000, + manual->r * 1000, 0); } } |