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Moving nav state from commander to navigator, WIP

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This commit is contained in:
Anton Babushkin
2013-12-29 12:16:49 +04:00
parent 72d9c80ce9
commit 7e29028429
11 changed files with 249 additions and 692 deletions
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src/modules/mavlink/mavlink.c
+3
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@@ -221,6 +221,8 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u
} 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;
// TODO use control_mode topic
/*
if (v_status.navigation_state == NAVIGATION_STATE_AUTO_READY) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
@@ -234,6 +236,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
}
*/
}
*mavlink_custom_mode = custom_mode.data;