From e0ed0625f81841194b4bd9b26c7e047a1f68a1fc Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 16 Jun 2014 17:34:21 +0200 Subject: commander: failsafe_state removed, replaced with bool failsafe, navigation state and failsafe determined directly from main state and conditions --- src/modules/mavlink/mavlink_messages.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) (limited to 'src/modules/mavlink/mavlink_messages.cpp') diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index b58fb4cb8..d7f56b63d 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -118,7 +118,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set union px4_custom_mode custom_mode; custom_mode.data = 0; - switch (status->set_nav_state) { + switch (status->nav_state) { case NAVIGATION_STATE_MANUAL: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED @@ -161,8 +161,6 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set break; case NAVIGATION_STATE_AUTO_RTL: - case NAVIGATION_STATE_AUTO_FAILSAFE_RC_LOSS: - case NAVIGATION_STATE_AUTO_FAILSAFE_DL_LOSS: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; -- cgit v1.2.3