From ffebe45c4ce6cb248314141d91abcb74fbf9174e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 12 Jul 2014 18:42:25 +0200 Subject: mavlink: Handle unhandled enum cases --- src/modules/mavlink/mavlink_messages.cpp | 13 +++++++++++++ 1 file changed, 13 insertions(+) (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 c7ad605c5..7c864f127 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -170,6 +170,8 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set break; case NAVIGATION_STATE_LAND: + /* fallthrough */ + case NAVIGATION_STATE_DESCEND: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; @@ -190,6 +192,17 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; break; + case NAVIGATION_STATE_OFFBOARD: + *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_OFFBOARD; + break; + + case NAVIGATION_STATE_MAX: + /* this is an unused case, ignore */ + break; + } *mavlink_custom_mode = custom_mode.data; -- cgit v1.2.3