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mavlink: AUTO states indication fixed

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This commit is contained in:
Anton Babushkin
2014-01-28 00:03:29 +01:00
parent 7d334ed54f
commit 3fdb082cb8
5 changed files with 55 additions and 59 deletions
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src/modules/mavlink/mavlink.c
+25 -22
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@@ -199,8 +199,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u
}
/* arming state */
if (v_status.arming_state == ARMING_STATE_ARMED
|| v_status.arming_state == ARMING_STATE_ARMED_ERROR) {
if (armed.armed) {
*mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
}
@@ -208,33 +207,37 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u
*mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
union px4_custom_mode custom_mode;
custom_mode.data = 0;
if (v_status.main_state == MAIN_STATE_MANUAL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
} else if (v_status.main_state == MAIN_STATE_SEATBELT) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
} else if (v_status.main_state == MAIN_STATE_EASY) {
*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_EASY;
} else if (v_status.main_state == MAIN_STATE_AUTO) {
if (pos_sp_triplet.nav_state == NAV_STATE_NONE) {
/* use main state when navigator is not active */
if (v_status.main_state == MAIN_STATE_MANUAL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
} else if (v_status.main_state == MAIN_STATE_SEATBELT) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
} else if (v_status.main_state == MAIN_STATE_EASY) {
*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_EASY;
} else if (v_status.main_state == MAIN_STATE_AUTO) {
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
}
} else {
/* use navigation state when navigator is active */
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
// TODO get nav state
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
/*
if (control_mode.nav_state == NAV_STATE_NONE) { // failsafe, shouldn't happen
if (pos_sp_triplet.nav_state == NAV_STATE_READY) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (control_mode.nav_state == NAV_STATE_READY) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (control_mode.nav_state == NAV_STATE_LOITER) {
} else if (pos_sp_triplet.nav_state == NAV_STATE_LOITER) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
} else if (control_mode.nav_state == NAV_STATE_MISSION) {
} else if (pos_sp_triplet.nav_state == NAV_STATE_MISSION) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
} else if (control_mode.nav_state == NAV_STATE_RTL) {
} else if (pos_sp_triplet.nav_state == NAV_STATE_RTL) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
} else if (pos_sp_triplet.nav_state == NAV_STATE_LAND) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
}
*/
}
*mavlink_custom_mode = custom_mode.data;