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transition to auto mission if custom mode param is not set

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This commit is contained in:
Andreas Antener
2015-11-29 19:26:45 +01:00
parent 4e4f780ecc
commit df6fe7f993
1 changed files with 19 additions and 14 deletions
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src/modules/commander/commander.cpp
+19 -14
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@@ -597,21 +597,26 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
/* AUTO */
switch(custom_sub_mode) {
case PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_AUTO_LOITER);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_MISSION:
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_AUTO_MISSION);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_RTL:
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_AUTO_RTL);
break;
if (custom_sub_mode > 0) {
switch(custom_sub_mode) {
case PX4_CUSTOM_SUB_MODE_AUTO_LOITER:
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_AUTO_LOITER);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_MISSION:
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_AUTO_MISSION);
break;
case PX4_CUSTOM_SUB_MODE_AUTO_RTL:
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_AUTO_RTL);
break;
default:
main_ret = TRANSITION_DENIED;
mavlink_log_critical(mavlink_fd, "Unsupported auto command");
break;
default:
main_ret = TRANSITION_DENIED;
mavlink_log_critical(mavlink_fd, "Unsupported auto mode");
break;
}
} else {
main_ret = main_state_transition(status_local, vehicle_status_s::MAIN_STATE_AUTO_MISSION);
}
} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {