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Report takeoff state correctly

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Lorenz Meier
2015-11-21 22:39:38 +01:00
parent e5dc027833
commit 7579d7e901
1 changed files with 8 additions and 0 deletions
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src/modules/mavlink/mavlink_messages.cpp
+8
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@@ -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