From 65ed068bbd412de655cba431dded6ba617e22281 Mon Sep 17 00:00:00 2001
From: Ildar Sadykov <sadykov@arrival.com>
Date: Wed, 9 Oct 2019 18:00:09 +0300
Subject: [PATCH] mavlink_receiver: vtol_vehicle_status changed to
 vehicle_status subscription

---
 src/modules/mavlink/mavlink_receiver.cpp | 23 +++++++++++++++++------
 src/modules/mavlink/mavlink_receiver.h   |  5 ++---
 2 files changed, 19 insertions(+), 9 deletions(-)

diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index d8321715be..21843d1cab 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1423,17 +1423,28 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 						case MAV_TYPE_VTOL_RESERVED3:
 						case MAV_TYPE_VTOL_RESERVED4:
 						case MAV_TYPE_VTOL_RESERVED5:
-							if (_vtol_vehicle_status_sub.updated()) {
-								_vtol_vehicle_status_sub.copy(&_vtol_vehicle_status);
+							if (_vehicle_status_sub.updated()) {
+								_vehicle_status_sub.copy(&_vehicle_status);
 							}
 
-							if (_vtol_vehicle_status.vtol_in_rw_mode) {
+							switch (_vehicle_status.vehicle_type) {
+							case vehicle_status_s::VEHICLE_TYPE_FIXED_WING:
+								att_sp.thrust_body[0] = set_attitude_target.thrust;
+
+								_fw_virtual_att_sp_pub.publish(att_sp);
+
+								break;
+
+							case vehicle_status_s::VEHICLE_TYPE_ROTARY_WING:
 								att_sp.thrust_body[2] = -set_attitude_target.thrust;
+
 								_mc_virtual_att_sp_pub.publish(att_sp);
 
-							} else {
-								att_sp.thrust_body[0] = set_attitude_target.thrust;
-								_fw_virtual_att_sp_pub.publish(att_sp);
+								break;
+
+							default:
+								// This should never happen
+								break;
 							}
 
 							break;
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index f253d1da58..4254a02201 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -97,7 +97,6 @@
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_trajectory_waypoint.h>
-#include <uORB/topics/vtol_vehicle_status.h>
 
 class Mavlink;
 
@@ -265,7 +264,7 @@ private:
 	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription	_vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription	_vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription	_vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
+	uORB::Subscription	_vehicle_status_sub{ORB_ID(vehicle_status)};
 
 	static constexpr unsigned int	MOM_SWITCH_COUNT{8};
 	uint8_t				_mom_switch_pos[MOM_SWITCH_COUNT] {};
@@ -279,7 +278,7 @@ private:
 
 	hrt_abstime			_last_utm_global_pos_com{0};
 
-	vtol_vehicle_status_s _vtol_vehicle_status{};
+	vehicle_status_s _vehicle_status{};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::BAT_CRIT_THR>)     _param_bat_crit_thr,