From 0fe5aeb02c6ab0ac9c50f54d028cd5dde908e051 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 11 Mar 2013 10:39:57 -0700 Subject: Checkpoint: More state machine fixes, commited to wrong branch and now copied over --- apps/mavlink_onboard/mavlink.c | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'apps/mavlink_onboard/mavlink.c') diff --git a/apps/mavlink_onboard/mavlink.c b/apps/mavlink_onboard/mavlink.c index fbfce7dc9..057a573b1 100644 --- a/apps/mavlink_onboard/mavlink.c +++ b/apps/mavlink_onboard/mavlink.c @@ -296,6 +296,12 @@ get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct *mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED; } + if (v_status->flag_control_velocity_enabled) { + *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; + } else { + *mavlink_mode &= ~MAV_MODE_FLAG_GUIDED_ENABLED; + } + // switch (v_status->state_machine) { // case SYSTEM_STATE_PREFLIGHT: // if (v_status->flag_preflight_gyro_calibration || -- cgit v1.2.3