From bcdedd9a35a5b9ebf3851a0d472adab8d3e7edac Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 16 Jul 2013 18:55:32 +0200 Subject: Changed location of lots of flags and conditions, needs testing and more work --- src/modules/mavlink/mavlink.c | 15 +++++++++------ src/modules/mavlink/orb_listener.c | 5 ++++- 2 files changed, 13 insertions(+), 7 deletions(-) (limited to 'src/modules/mavlink') diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index a2758a45c..5f683c443 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -191,7 +191,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) **/ /* HIL */ - if (v_status.flag_hil_enabled) { + if (v_status.hil_state == HIL_STATE_ON) { *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; } @@ -234,11 +234,11 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode) **/ /* set calibration state */ - if (v_status.flag_preflight_calibration) { + if (v_status.preflight_calibration) { *mavlink_state = MAV_STATE_CALIBRATING; - } else if (v_status.flag_system_emergency) { + } else if (v_status.system_emergency) { *mavlink_state = MAV_STATE_EMERGENCY; @@ -677,7 +677,10 @@ int mavlink_thread_main(int argc, char *argv[]) mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state); /* switch HIL mode if required */ - set_hil_on_off(v_status.flag_hil_enabled); + if (v_status.hil_state == HIL_STATE_ON) + set_hil_on_off(true); + else if (v_status.hil_state == HIL_STATE_OFF) + set_hil_on_off(false); /* send status (values already copied in the section above) */ mavlink_msg_sys_status_send(chan, @@ -685,8 +688,8 @@ int mavlink_thread_main(int argc, char *argv[]) v_status.onboard_control_sensors_enabled, v_status.onboard_control_sensors_health, v_status.load, - v_status.voltage_battery * 1000.0f, - v_status.current_battery * 1000.0f, + v_status.battery_voltage * 1000.0f, + v_status.battery_current * 1000.0f, v_status.battery_remaining, v_status.drop_rate_comm, v_status.errors_comm, diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 57a5d5dd5..d088d421e 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -272,7 +272,10 @@ l_vehicle_status(const struct listener *l) orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed); /* enable or disable HIL */ - set_hil_on_off(v_status.flag_hil_enabled); + if (v_status.hil_state == HIL_STATE_ON) + set_hil_on_off(true); + else if (v_status.hil_state == HIL_STATE_OFF) + set_hil_on_off(false); /* translate the current syste state to mavlink state and mode */ uint8_t mavlink_state = 0; -- cgit v1.2.3