diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_messages.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 79dd88657..2837c16b8 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -136,6 +136,11 @@ 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; 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; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; } } else { |