fly316/PX4-Autopilot
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Minor fixes, pushing WIP

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This commit is contained in:
Lorenz Meier
2012-12-29 11:00:15 +01:00
parent be85589e48
commit c652f718c0
6 changed files with 60 additions and 31 deletions
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apps/mavlink/mavlink.c
+24 -6
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@@ -189,10 +189,34 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
*mavlink_mode = 0;
/* set mode flags independent of system state */
/* HIL */
if (v_status.flag_hil_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
}
/* manual input */
if (v_status.flag_control_manual_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
/* attitude or rate control */
if (v_status.flag_control_attitude_enabled ||
v_status.flag_control_rates_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
}
/* vector control */
if (v_status.flag_control_velocity_enabled ||
v_status.flag_control_position_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
}
/* autonomous mode */
if (v_status.state_machine == SYSTEM_STATE_AUTO) {
*mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED;
}
/* set arming state */
if (armed.armed) {
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
@@ -221,20 +245,14 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
case SYSTEM_STATE_MANUAL:
*mavlink_state = MAV_STATE_ACTIVE;
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
break;
case SYSTEM_STATE_STABILIZED:
*mavlink_state = MAV_STATE_ACTIVE;
*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
break;
case SYSTEM_STATE_AUTO:
*mavlink_state = MAV_STATE_ACTIVE;
*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
*mavlink_mode |= MAV_MODE_FLAG_AUTO_ENABLED;
break;
case SYSTEM_STATE_MISSION_ABORT: