fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-13 22:30:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

standard_modes: add vehicle-type specific standard modes

Browse Source 
See https://mavlink.io/en/messages/development.html#MAV_STANDARD_MODE.
The only standard mode that is not set is MAV_STANDARD_MODE_SAFE_RECOVERY,
as PX4 uses RTL for that (with configuration parameters).
This commit is contained in:
Beat Küng
2024-11-21 11:05:56 +01:00
parent 90b968ba4e
commit aca5a70964
4 changed files with 68 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+2 -1
View File
@@ -1450,7 +1450,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
case vehicle_command_s::VEHICLE_CMD_DO_SET_STANDARD_MODE: {
mode_util::StandardMode standard_mode = (mode_util::StandardMode) roundf(cmd.param1);
uint8_t nav_state = mode_util::getNavStateFromStandardMode(standard_mode);
uint8_t nav_state = mode_util::getNavStateFromStandardMode(standard_mode, _vehicle_status.vehicle_type,
_vehicle_status.is_vtol);
if (nav_state == vehicle_status_s::NAVIGATION_STATE_MAX) {
answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED);