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added which transition the vtol is in to vehicle status

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This commit is contained in:
Andreas Antener
2016-09-13 14:32:00 +02:00
parent 46105f735e
commit 8c9f4e8ab8
9 changed files with 34 additions and 25 deletions
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src/modules/mavlink/mavlink_messages.cpp
+8 -12
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@@ -3196,21 +3196,17 @@ protected:
updated = true;
if (status.is_vtol) {
if (status.is_rotary_wing) {
if (status.in_transition_mode) {
_msg.vtol_state = MAV_VTOL_STATE_TRANSITION_TO_FW;
if (!status.in_transition_mode && status.is_rotary_wing) {
_msg.vtol_state = MAV_VTOL_STATE_MC;
} else {
_msg.vtol_state = MAV_VTOL_STATE_MC;
}
} else if (!status.in_transition_mode){
_msg.vtol_state = MAV_VTOL_STATE_FW;
} else {
if (status.in_transition_mode) {
_msg.vtol_state = MAV_VTOL_STATE_TRANSITION_TO_MC;
} else if (status.in_transition_mode && status.in_transition_to_fw) {
_msg.vtol_state = MAV_VTOL_STATE_TRANSITION_TO_FW;
} else {
_msg.vtol_state = MAV_VTOL_STATE_FW;
}
} else if (status.in_transition_mode) {
_msg.vtol_state = MAV_VTOL_STATE_TRANSITION_TO_MC;
}
}
}