From d6ef137e59a6fdb98267d7550ac9210b81de5443 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Sun, 25 Dec 2016 17:10:37 +0100
Subject: [PATCH] VTOL att control: Fix status reporting

The transition state reporting was inverted because of a typo. Code analysis suggests this will only have an effect in manual transition.
---
 src/modules/vtol_att_control/standard.cpp |  4 ++--
 src/modules/vtol_att_control/vtol_type.h  | 11 ++++++-----
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index 70a934298d..2e50de9069 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -221,11 +221,11 @@ void Standard::update_vtol_state()
 		break;
 
 	case TRANSITION_TO_FW:
-		_vtol_mode = mode::TRANSITION_TO_MC;
+		_vtol_mode = mode::TRANSITION_TO_FW;
 		break;
 
 	case TRANSITION_TO_MC:
-		_vtol_mode = mode::TRANSITION_TO_FW;
+		_vtol_mode = mode::TRANSITION_TO_MC;
 		break;
 	}
 }
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index effe4af07d..1ae3e2fe04 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -62,12 +62,13 @@ struct Params {
 	float fw_min_alt;			// minimum relative altitude for FW mode (QuadChute)
 };
 
+// Has to match 1:1 msg/vtol_vehicle_status.msg
 enum mode {
-	ROTARY_WING = 0,
-	FIXED_WING,
-	TRANSITION_TO_FW,
-	TRANSITION_TO_MC,
-	EXTERNAL
+	TRANSITION_TO_FW = 1,
+	TRANSITION_TO_MC = 2,
+	ROTARY_WING = 3,
+	FIXED_WING = 4,
+	EXTERNAL = 5
 };
 
 enum vtol_type {