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vehicle_control_mode publication moved to commander, WIP

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Anton Babushkin
2014-01-27 20:49:17 +01:00
parent 20108ed95d
commit d1508a7813
8 changed files with 265 additions and 287 deletions
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src/modules/mavlink/mavlink.c
+4
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@@ -220,6 +220,9 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u
} else if (v_status.main_state == MAIN_STATE_AUTO) {
*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
// TODO get nav state
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
/*
if (control_mode.nav_state == NAV_STATE_NONE) { // failsafe, shouldn't happen
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (control_mode.nav_state == NAV_STATE_READY) {
@@ -231,6 +234,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, u
} else if (control_mode.nav_state == NAV_STATE_RTL) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
}
*/
}
*mavlink_custom_mode = custom_mode.data;