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Some mavlink fixes to use vehicle_control_mode, WIP

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Anton Babushkin
2013-12-29 22:38:41 +04:00
parent 95bdc1a9bd
commit fa20fae6fb
4 changed files with 75 additions and 15 deletions
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src/modules/mavlink/mavlink.c
+8 -12
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@@ -220,22 +220,18 @@ 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 use control_mode topic
/*
if (v_status.navigation_state == NAVIGATION_STATE_AUTO_READY) {
// TODO review
if (control_mode.nav_state == NAV_STATE_NONE) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF;
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LOITER) {
} else if (control_mode.nav_state == NAV_STATE_LOITER) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_MISSION) {
} else if (control_mode.nav_state == NAV_STATE_MISSION_LOITER) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
} else if (control_mode.nav_state == NAV_STATE_RTL_LOITER) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
} else if (control_mode.nav_state == NAV_STATE_MISSION) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_RTL) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
} else if (v_status.navigation_state == NAVIGATION_STATE_AUTO_LAND) {
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
}
*/
}
*mavlink_custom_mode = custom_mode.data;