diff options
Diffstat (limited to 'src/modules/mavlink_onboard/mavlink.c')
-rw-r--r-- | src/modules/mavlink_onboard/mavlink.c | 114 |
1 files changed, 60 insertions, 54 deletions
diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c index 5a2685560..408a850d8 100644 --- a/src/modules/mavlink_onboard/mavlink.c +++ b/src/modules/mavlink_onboard/mavlink.c @@ -290,67 +290,73 @@ get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct } /* set arming state */ - if (armed->armed) { + if (v_status->flag_fmu_armed) { *mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED; } else { *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; } - switch (v_status->state_machine) { - case SYSTEM_STATE_PREFLIGHT: - if (v_status->flag_preflight_gyro_calibration || - v_status->flag_preflight_mag_calibration || - v_status->flag_preflight_accel_calibration) { - *mavlink_state = MAV_STATE_CALIBRATING; - } else { - *mavlink_state = MAV_STATE_UNINIT; - } - break; - - case SYSTEM_STATE_STANDBY: - *mavlink_state = MAV_STATE_STANDBY; - break; - - case SYSTEM_STATE_GROUND_READY: - *mavlink_state = MAV_STATE_ACTIVE; - break; - - case SYSTEM_STATE_MANUAL: - *mavlink_state = MAV_STATE_ACTIVE; - *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; - break; - - case SYSTEM_STATE_STABILIZED: - *mavlink_state = MAV_STATE_ACTIVE; - *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; - break; - - case SYSTEM_STATE_AUTO: - *mavlink_state = MAV_STATE_ACTIVE; + if (v_status->flag_control_velocity_enabled) { *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; - break; - - case SYSTEM_STATE_MISSION_ABORT: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_EMCY_LANDING: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_EMCY_CUTOFF: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_GROUND_ERROR: - *mavlink_state = MAV_STATE_EMERGENCY; - break; - - case SYSTEM_STATE_REBOOT: - *mavlink_state = MAV_STATE_POWEROFF; - break; + } else { + *mavlink_mode &= ~MAV_MODE_FLAG_GUIDED_ENABLED; } +// switch (v_status->state_machine) { +// case SYSTEM_STATE_PREFLIGHT: +// if (v_status->flag_preflight_gyro_calibration || +// v_status->flag_preflight_mag_calibration || +// v_status->flag_preflight_accel_calibration) { +// *mavlink_state = MAV_STATE_CALIBRATING; +// } else { +// *mavlink_state = MAV_STATE_UNINIT; +// } +// break; +// +// case SYSTEM_STATE_STANDBY: +// *mavlink_state = MAV_STATE_STANDBY; +// break; +// +// case SYSTEM_STATE_GROUND_READY: +// *mavlink_state = MAV_STATE_ACTIVE; +// break; +// +// case SYSTEM_STATE_MANUAL: +// *mavlink_state = MAV_STATE_ACTIVE; +// *mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; +// break; +// +// case SYSTEM_STATE_STABILIZED: +// *mavlink_state = MAV_STATE_ACTIVE; +// *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; +// break; +// +// case SYSTEM_STATE_AUTO: +// *mavlink_state = MAV_STATE_ACTIVE; +// *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; +// break; +// +// case SYSTEM_STATE_MISSION_ABORT: +// *mavlink_state = MAV_STATE_EMERGENCY; +// break; +// +// case SYSTEM_STATE_EMCY_LANDING: +// *mavlink_state = MAV_STATE_EMERGENCY; +// break; +// +// case SYSTEM_STATE_EMCY_CUTOFF: +// *mavlink_state = MAV_STATE_EMERGENCY; +// break; +// +// case SYSTEM_STATE_GROUND_ERROR: +// *mavlink_state = MAV_STATE_EMERGENCY; +// break; +// +// case SYSTEM_STATE_REBOOT: +// *mavlink_state = MAV_STATE_POWEROFF; +// break; +// } + } /** @@ -434,7 +440,7 @@ int mavlink_thread_main(int argc, char *argv[]) get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode); /* send heartbeat */ - mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state); + mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state); /* send status (values already copied in the section above) */ mavlink_msg_sys_status_send(chan, |