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commander: WIP, SEATBELT renamed to ASSISTED, added SIMPLE mode, added ASSISTED switch, some cleanup and reorganizing

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This commit is contained in:
Anton Babushkin
2013-07-22 21:48:21 +04:00
parent eb52eae153
commit 963abd66ba
5 changed files with 178 additions and 108 deletions
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src/modules/mavlink/mavlink.c
+6 -6
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@@ -221,9 +221,9 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
if (v_status.navigation_state == NAVIGATION_STATE_SEATBELT
|| v_status.navigation_state == NAVIGATION_STATE_SEATBELT_DESCENT
|| v_status.navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY) {
if (v_status.navigation_state == NAVIGATION_STATE_ASSISTED_SEATBELT
|| v_status.navigation_state == NAVIGATION_STATE_ASSISTED_DESCENT
|| v_status.navigation_state == NAVIGATION_STATE_ASSISTED_STANDBY) {
*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
}
@@ -248,15 +248,15 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_RTL
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF
|| v_status.navigation_state == NAVIGATION_STATE_SEATBELT
|| v_status.navigation_state == NAVIGATION_STATE_SEATBELT_DESCENT
|| v_status.navigation_state == NAVIGATION_STATE_ASSISTED_SEATBELT
|| v_status.navigation_state == NAVIGATION_STATE_ASSISTED_DESCENT
|| v_status.navigation_state == NAVIGATION_STATE_MANUAL) {
*mavlink_state = MAV_STATE_ACTIVE;
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_STANDBY
|| v_status.navigation_state == NAVIGATION_STATE_AUTO_READY // XXX correct?
|| v_status.navigation_state == NAVIGATION_STATE_SEATBELT_STANDBY
|| v_status.navigation_state == NAVIGATION_STATE_ASSISTED_STANDBY
|| v_status.navigation_state == NAVIGATION_STATE_MANUAL_STANDBY) {
*mavlink_state = MAV_STATE_STANDBY;