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Remove duplicate LAND mode, clean up mode reporting across the board to ensure consistency

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This commit is contained in:
Lorenz Meier
2016-03-13 15:39:35 +01:00
parent f472ac577a
commit 1fdf252e96
5 changed files with 23 additions and 29 deletions
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src/modules/mavlink/mavlink_messages.cpp
+6 -1
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@@ -139,6 +139,11 @@ 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_RATTITUDE:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_RATTITUDE;
break;
case vehicle_status_s::NAVIGATION_STATE_STAB:
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
| MAV_MODE_FLAG_STABILIZE_ENABLED;
@@ -192,7 +197,7 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
break;
case vehicle_status_s::NAVIGATION_STATE_LAND:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL:
/* fallthrough */