From 0e11f1632c2dcd2f6417ba52cafa96d497fe3030 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 22 May 2015 21:07:53 +0200 Subject: [PATCH] MAVLink app: send out right mode flags for new stabilized mode --- src/modules/mavlink/mavlink_messages.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 1753aaec4e..a333fb8529 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -130,6 +130,12 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO; break; + case vehicle_status_s::NAVIGATION_STATE_STAB: + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED + | MAV_MODE_FLAG_STABILIZE_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_STABILIZED; + break; + case vehicle_status_s::NAVIGATION_STATE_ALTCTL: *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;