From 7579d7e90113fa2a432ea9d631e74e59b11b320b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 21 Nov 2015 22:39:38 +0100 Subject: [PATCH] Report takeoff state correctly --- src/modules/mavlink/mavlink_messages.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index be3ab850f4..a9e39c04d4 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -155,6 +155,14 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; break; + case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: + *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_TAKEOFF; + break; + case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED