yemai/bizhang_-obav
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Merge branch 'master' into navigator_rewrite

Browse Source 
Conflicts:
	src/drivers/gps/gps.cpp
	src/drivers/gps/mtk.cpp
	src/modules/commander/commander.cpp
	src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
	src/modules/navigator/mission.cpp
	src/modules/navigator/mission.h
	src/modules/navigator/navigator_main.cpp
	src/modules/navigator/navigator_state.h
	src/modules/position_estimator_inav/position_estimator_inav_main.c
This commit is contained in:
Julian Oes
2014-05-26 20:19:11 +02:00
parent 68352cb923 36495cdb62
commit 063caba36b
173 changed files with 5312 additions and 1890 deletions
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20
src/modules/mavlink/mavlink_messages.cpp
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@@ -125,18 +125,22 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
} else if (status->main_state == MAIN_STATE_SEATBELT) {
} else if (status->main_state == MAIN_STATE_ALTCTL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
} else if (status->main_state == MAIN_STATE_EASY) {
} else if (status->main_state == MAIN_STATE_POSCTL) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
} else if (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;
custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
} else if (status->main_state == MAIN_STATE_ACRO) {
*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
}
} else {
@@ -1139,10 +1143,10 @@ protected:
if (manual_sub->update(t)) {
mavlink_msg_manual_control_send(_channel,
mavlink_system.sysid,
manual->roll * 1000,
manual->pitch * 1000,
manual->yaw * 1000,
manual->throttle * 1000,
manual->x * 1000,
manual->y * 1000,
manual->z * 1000,
manual->r * 1000,
0);
}
}