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Cleaned up mode indication

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This commit is contained in:
Lorenz Meier
2012-12-01 16:29:06 +01:00
parent aa1d57c085
commit 2bfb672791
1 changed files with 3 additions and 4 deletions
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apps/mavlink/mavlink.c
+3 -4
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@@ -189,10 +189,6 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
*mavlink_mode = 0; *mavlink_mode = 0;
/* set mode flags independent of system state */ /* set mode flags independent of system state */
if (v_status.flag_control_manual_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
if (v_status.flag_hil_enabled) { if (v_status.flag_hil_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED; *mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
} }
@@ -231,11 +227,14 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
case SYSTEM_STATE_STABILIZED: case SYSTEM_STATE_STABILIZED:
*mavlink_state = MAV_STATE_ACTIVE; *mavlink_state = MAV_STATE_ACTIVE;
*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; *mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
break; break;
case SYSTEM_STATE_AUTO: case SYSTEM_STATE_AUTO:
*mavlink_state = MAV_STATE_ACTIVE; *mavlink_state = MAV_STATE_ACTIVE;
*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; *mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
*mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED;
break; break;
case SYSTEM_STATE_MISSION_ABORT: case SYSTEM_STATE_MISSION_ABORT: