From 7f2a63eb964b384a6b76e7004f1250d705f35fb0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 6 Aug 2012 23:43:09 +0200 Subject: Completed calibration state machine, calibration state now propagating to sensor, scale calibration soon --- apps/mavlink/mavlink.c | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) (limited to 'apps/mavlink/mavlink.c') diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index e3c8e5fa1..764c9ffed 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: @author Lorenz Meier * * Redistribution and use in source and binary forms, with or without @@ -269,8 +269,13 @@ void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, uint8_t //TODO: Make this correct switch (c_status->state_machine) { case SYSTEM_STATE_PREFLIGHT: - *mavlink_state = MAV_STATE_UNINIT; - *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + if (c_status->preflight_gyro_calibration || c_status->preflight_mag_calibration) { + *mavlink_state = MAV_STATE_CALIBRATING; + *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + } else { + *mavlink_state = MAV_STATE_UNINIT; + *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; + } break; case SYSTEM_STATE_STANDBY: -- cgit v1.2.3