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OFFBOARD mode support in commander, mavlink, mc_att_control, WIP

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Anton Babushkin
2014-01-22 19:25:14 +01:00
parent 37e28e7fa8
commit f069fe9f61
5 changed files with 110 additions and 74 deletions
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src/modules/mavlink/mavlink.c
+2
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@@ -231,6 +231,8 @@ 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;
}
} else if (v_status.main_state == MAIN_STATE_OFFBOARD) {
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
}
*mavlink_custom_mode = custom_mode.data;