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update mavlink submodule to latest

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- update MAV_TYPE VTOL usage for current mavlink
This commit is contained in:
Daniel Agar
2022-04-07 09:15:32 -04:00
committed by Lorenz Meier
parent a5bd65b923
commit 98623f69a3
7 changed files with 33 additions and 28 deletions
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src/modules/commander/commander_helper.cpp
+13 -9
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@@ -74,10 +74,11 @@
#define VEHICLE_TYPE_HEXAROTOR 13
#define VEHICLE_TYPE_OCTOROTOR 14
#define VEHICLE_TYPE_TRICOPTER 15
#define VEHICLE_TYPE_VTOL_DUOROTOR 19
#define VEHICLE_TYPE_VTOL_QUADROTOR 20
#define VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR 19
#define VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR 20
#define VEHICLE_TYPE_VTOL_TILTROTOR 21
#define VEHICLE_TYPE_VTOL_RESERVED2 22 // VTOL standard
#define VEHICLE_TYPE_VTOL_FIXEDROTOR 22 // VTOL standard
#define VEHICLE_TYPE_VTOL_TAILSITTER 23
#define BLINK_MSG_TIME 700000 // 3 fast blinks (in us)
@@ -91,22 +92,25 @@ bool is_multirotor(const vehicle_status_s &current_status)
bool is_rotary_wing(const vehicle_status_s &current_status)
{
return is_multirotor(current_status) || (current_status.system_type == VEHICLE_TYPE_HELICOPTER)
return is_multirotor(current_status)
|| (current_status.system_type == VEHICLE_TYPE_HELICOPTER)
|| (current_status.system_type == VEHICLE_TYPE_COAXIAL);
}
bool is_vtol(const vehicle_status_s &current_status)
{
return (current_status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR ||
return (current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TILTROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED2);
current_status.system_type == VEHICLE_TYPE_VTOL_FIXEDROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER);
}
bool is_vtol_tailsitter(const vehicle_status_s &current_status)
{
return (current_status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR);
return (current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER);
}
bool is_fixed_wing(const vehicle_status_s &current_status)