From 7e29028429fce33b88dd1eeb6d3ac89aa5cb5891 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 29 Dec 2013 12:16:49 +0400 Subject: Moving nav state from commander to navigator, WIP --- src/modules/mavlink/mavlink.c | 3 +++ 1 file changed, 3 insertions(+) (limited to 'src/modules/mavlink/mavlink.c') diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 2ec00a9bc..eec6c567c 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -221,6 +221,8 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u } else if (v_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; + // TODO use control_mode topic + /* if (v_status.navigation_state == NAVIGATION_STATE_AUTO_READY) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) { @@ -234,6 +236,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u } else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND) { custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; } + */ } *mavlink_custom_mode = custom_mode.data; -- cgit v1.2.3