From 3f872ebf208482abc98c498eb6aeea0a2c5cedbf Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 20 Feb 2021 20:25:33 -0500 Subject: [PATCH] mavlink: move HEARTBEAT to separate stream header --- src/modules/mavlink/mavlink_messages.cpp | 256 +++++------------- src/modules/mavlink/mavlink_messages.h | 5 +- src/modules/mavlink/mavlink_receiver.cpp | 1 - src/modules/mavlink/streams/HEARTBEAT.hpp | 150 ++++++++++ src/modules/mavlink/streams/HIGH_LATENCY2.hpp | 5 +- 5 files changed, 215 insertions(+), 202 deletions(-) create mode 100644 src/modules/mavlink/streams/HEARTBEAT.hpp diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index a4c999af5f..1f91fe0eca 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -44,7 +44,6 @@ #include "mavlink_command_sender.h" #include "mavlink_simple_analyzer.h" -#include #include #include #include @@ -117,6 +116,7 @@ using matrix::wrap_2pi; #include "streams/GPS_GLOBAL_ORIGIN.hpp" #include "streams/GPS_RAW_INT.hpp" #include "streams/GPS_STATUS.hpp" +#include "streams/HEARTBEAT.hpp" #include "streams/HIGHRES_IMU.hpp" #include "streams/HIL_ACTUATOR_CONTROLS.hpp" #include "streams/HIL_STATE_QUATERNION.hpp" @@ -253,238 +253,102 @@ static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293 == static_cast(ROTATION_PITCH_315), "Pitch: 315"); static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_315 == static_cast(ROTATION_ROLL_90_PITCH_315), "Roll: 90, Pitch: 315"); - static_assert(41 == ROTATION_MAX, "Keep MAV_SENSOR_ROTATION and PX4 Rotation in sync"); -void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, uint8_t *mavlink_base_mode, - union px4_custom_mode *custom_mode) + +union px4_custom_mode get_px4_custom_mode(uint8_t nav_state) { - custom_mode->data = 0; - *mavlink_base_mode = 0; + union px4_custom_mode custom_mode; + custom_mode.data = 0; - /* HIL */ - if (status->hil_state == vehicle_status_s::HIL_STATE_ON) { - *mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED; - } - - /* arming state */ - if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) { - *mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; - } - - /* main state */ - *mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; - - const uint8_t auto_mode_flags = MAV_MODE_FLAG_AUTO_ENABLED - | MAV_MODE_FLAG_STABILIZE_ENABLED - | MAV_MODE_FLAG_GUIDED_ENABLED; - - switch (status->nav_state) { + switch (nav_state) { case vehicle_status_s::NAVIGATION_STATE_MANUAL: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED - | (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; - break; - - case vehicle_status_s::NAVIGATION_STATE_ACRO: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; - 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; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; break; case vehicle_status_s::NAVIGATION_STATE_ALTCTL: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED - | MAV_MODE_FLAG_STABILIZE_ENABLED; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL; break; case vehicle_status_s::NAVIGATION_STATE_POSCTL: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED - | MAV_MODE_FLAG_STABILIZE_ENABLED - | MAV_MODE_FLAG_GUIDED_ENABLED; // TODO: is POSCTL GUIDED? - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; - break; - - case vehicle_status_s::NAVIGATION_STATE_ORBIT: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED - | MAV_MODE_FLAG_STABILIZE_ENABLED - | MAV_MODE_FLAG_GUIDED_ENABLED; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT; - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET; - break; - - case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; break; case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; break; - case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL: - case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; + break; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; + break; + + case vehicle_status_s::NAVIGATION_STATE_ACRO: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO; + break; - /* fallthrough */ case vehicle_status_s::NAVIGATION_STATE_DESCEND: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; - custom_mode->sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; break; case vehicle_status_s::NAVIGATION_STATE_TERMINATION: - *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; break; case vehicle_status_s::NAVIGATION_STATE_OFFBOARD: - *mavlink_base_mode |= auto_mode_flags; - custom_mode->main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD; break; - case vehicle_status_s::NAVIGATION_STATE_MAX: - /* this is an unused case, ignore */ + case vehicle_status_s::NAVIGATION_STATE_STAB: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_STABILIZED; break; + case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF; + break; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND; + break; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET; + break; + + case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND; + break; + + case vehicle_status_s::NAVIGATION_STATE_ORBIT: + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT; + break; } + + return custom_mode; } -static void get_mavlink_mode_state(const struct vehicle_status_s *const status, uint8_t *mavlink_state, - uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode) -{ - *mavlink_state = 0; - *mavlink_base_mode = 0; - *mavlink_custom_mode = 0; - - union px4_custom_mode custom_mode; - get_mavlink_navigation_mode(status, mavlink_base_mode, &custom_mode); - *mavlink_custom_mode = custom_mode.data; - - /* set system state */ - if (status->arming_state == vehicle_status_s::ARMING_STATE_INIT - || status->arming_state == vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE - || status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) { // TODO review - *mavlink_state = MAV_STATE_UNINIT; - - } else if (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) { - *mavlink_state = MAV_STATE_ACTIVE; - - } else if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY) { - *mavlink_state = MAV_STATE_STANDBY; - - } else if (status->arming_state == vehicle_status_s::ARMING_STATE_SHUTDOWN) { - *mavlink_state = MAV_STATE_POWEROFF; - - } else { - *mavlink_state = MAV_STATE_CRITICAL; - } -} - - -class MavlinkStreamHeartbeat : public MavlinkStream -{ -public: - const char *get_name() const override - { - return MavlinkStreamHeartbeat::get_name_static(); - } - - static constexpr const char *get_name_static() - { - return "HEARTBEAT"; - } - - static constexpr uint16_t get_id_static() - { - return MAVLINK_MSG_ID_HEARTBEAT; - } - - uint16_t get_id() override - { - return get_id_static(); - } - - static MavlinkStream *new_instance(Mavlink *mavlink) - { - return new MavlinkStreamHeartbeat(mavlink); - } - - unsigned get_size() override - { - return MAVLINK_MSG_ID_HEARTBEAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; - } - - bool const_rate() override - { - return true; - } - -private: - uORB::Subscription _status_sub{ORB_ID(vehicle_status)}; - - /* do not allow top copying this class */ - MavlinkStreamHeartbeat(MavlinkStreamHeartbeat &) = delete; - MavlinkStreamHeartbeat &operator = (const MavlinkStreamHeartbeat &) = delete; - -protected: - explicit MavlinkStreamHeartbeat(Mavlink *mavlink) : MavlinkStream(mavlink) - {} - - bool send() override - { - if (_mavlink->get_free_tx_buf() >= get_size()) { - // always send the heartbeat, independent of the update status of the topics - vehicle_status_s status{}; - _status_sub.copy(&status); - - uint8_t base_mode = 0; - uint32_t custom_mode = 0; - uint8_t system_status = 0; - get_mavlink_mode_state(&status, &system_status, &base_mode, &custom_mode); - - mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), MAV_AUTOPILOT_PX4, - base_mode, custom_mode, system_status); - - return true; - } - - return false; - } -}; - class MavlinkStreamCameraCapture : public MavlinkStream { public: @@ -557,7 +421,9 @@ protected: }; static const StreamListItem streams_list[] = { +#if defined(HEARTBEAT_HPP) create_stream_list_item(), +#endif // HEARTBEAT_HPP #if defined(STATUSTEXT_HPP) create_stream_list_item(), #endif // STATUSTEXT_HPP diff --git a/src/modules/mavlink/mavlink_messages.h b/src/modules/mavlink/mavlink_messages.h index eed7b675d6..21cef651f5 100644 --- a/src/modules/mavlink/mavlink_messages.h +++ b/src/modules/mavlink/mavlink_messages.h @@ -43,6 +43,8 @@ #include "mavlink_stream.h" +#include + class StreamListItem { @@ -72,7 +74,6 @@ MavlinkStream *create_mavlink_stream(const char *stream_name, Mavlink *mavlink); MavlinkStream *create_mavlink_stream(const uint16_t msg_id, Mavlink *mavlink); -void get_mavlink_navigation_mode(const struct vehicle_status_s *const status, uint8_t *mavlink_base_mode, - union px4_custom_mode *custom_mode); +union px4_custom_mode get_px4_custom_mode(uint8_t nav_state); #endif /* MAVLINK_MESSAGES_H_ */ diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 9180d00efe..1794cdfccd 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -41,7 +41,6 @@ */ #include -#include #include #include #include diff --git a/src/modules/mavlink/streams/HEARTBEAT.hpp b/src/modules/mavlink/streams/HEARTBEAT.hpp new file mode 100644 index 0000000000..bc2b81dd0f --- /dev/null +++ b/src/modules/mavlink/streams/HEARTBEAT.hpp @@ -0,0 +1,150 @@ +/**************************************************************************** + * + * Copyright (c) 2021 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef HEARTBEAT_HPP +#define HEARTBEAT_HPP + +#include +#include +#include + +class MavlinkStreamHeartbeat : public MavlinkStream +{ +public: + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamHeartbeat(mavlink); } + + static constexpr const char *get_name_static() { return "HEARTBEAT"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_HEARTBEAT; } + + const char *get_name() const override { return get_name_static(); } + uint16_t get_id() override { return get_id_static(); } + + bool const_rate() override { return true; } + + unsigned get_size() override + { + return MAVLINK_MSG_ID_HEARTBEAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + } + +private: + explicit MavlinkStreamHeartbeat(Mavlink *mavlink) : MavlinkStream(mavlink) {} + + uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; + uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; + uORB::Subscription _vehicle_status_flags_sub{ORB_ID(vehicle_status_flags)}; + + bool send() override + { + if (_mavlink->get_free_tx_buf() >= get_size()) { + // always send the heartbeat, independent of the update status of the topics + vehicle_status_s vehicle_status{}; + _vehicle_status_sub.copy(&vehicle_status); + + vehicle_status_flags_s vehicle_status_flags{}; + _vehicle_status_flags_sub.copy(&vehicle_status_flags); + + vehicle_control_mode_s vehicle_control_mode{}; + _vehicle_status_sub.copy(&vehicle_control_mode); + + + // uint8_t base_mode (MAV_MODE_FLAG) - System mode bitmap. + uint8_t base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; + + if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) { + base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + } + + if (vehicle_status.hil_state == vehicle_status_s::HIL_STATE_ON) { + base_mode |= MAV_MODE_FLAG_HIL_ENABLED; + } + + if (vehicle_control_mode.flag_control_manual_enabled) { + base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED; + } + + if (vehicle_control_mode.flag_control_attitude_enabled) { + base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED; + } + + if (vehicle_control_mode.flag_control_auto_enabled) { + base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; + } + + + // uint32_t custom_mode - A bitfield for use for autopilot-specific flags + union px4_custom_mode custom_mode {get_px4_custom_mode(vehicle_status.nav_state)}; + + + // uint8_t system_status (MAV_STATE) - System status flag. + uint8_t system_status = MAV_STATE_UNINIT; + + switch (vehicle_status.arming_state) { + case vehicle_status_s::ARMING_STATE_ARMED: + system_status = vehicle_status.failsafe ? MAV_STATE_CRITICAL : MAV_STATE_ACTIVE; + break; + + case vehicle_status_s::ARMING_STATE_STANDBY: + system_status = MAV_STATE_STANDBY; + break; + + case vehicle_status_s::ARMING_STATE_SHUTDOWN: + system_status = MAV_STATE_POWEROFF; + break; + } + + // system_status overrides + if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) { + system_status = MAV_STATE_FLIGHT_TERMINATION; + + } else if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL) { + system_status = MAV_STATE_EMERGENCY; + + } else if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL) { + system_status = MAV_STATE_EMERGENCY; + + } else if (vehicle_status_flags.condition_calibration_enabled) { + system_status = MAV_STATE_CALIBRATING; + } + + + mavlink_msg_heartbeat_send(_mavlink->get_channel(), _mavlink->get_system_type(), MAV_AUTOPILOT_PX4, + base_mode, custom_mode.data, system_status); + + return true; + } + + return false; + } +}; + +#endif // HEARTBEAT_HPP diff --git a/src/modules/mavlink/streams/HIGH_LATENCY2.hpp b/src/modules/mavlink/streams/HIGH_LATENCY2.hpp index 90e83cddb4..695391015a 100644 --- a/src/modules/mavlink/streams/HIGH_LATENCY2.hpp +++ b/src/modules/mavlink/streams/HIGH_LATENCY2.hpp @@ -34,7 +34,6 @@ #ifndef HIGH_LATENCY2_HPP #define HIGH_LATENCY2_HPP -#include #include #include #include @@ -447,9 +446,7 @@ private: } // flight mode - union px4_custom_mode custom_mode; - uint8_t mavlink_base_mode; - get_mavlink_navigation_mode(&status, &mavlink_base_mode, &custom_mode); + union px4_custom_mode custom_mode {get_px4_custom_mode(status.nav_state)}; msg->custom_mode = custom_mode.custom_mode_hl; return true;