From 4cb9d4fcb526c66b6a31dda73be366c11d7790e8 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 31 Mar 2014 17:48:05 +1100 Subject: [PATCH] AntennaTracker: fixed mode set using custom mode --- Tools/AntennaTracker/GCS_Mavlink.pde | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/Tools/AntennaTracker/GCS_Mavlink.pde b/Tools/AntennaTracker/GCS_Mavlink.pde index d5914b8caf..446d484da9 100644 --- a/Tools/AntennaTracker/GCS_Mavlink.pde +++ b/Tools/AntennaTracker/GCS_Mavlink.pde @@ -852,6 +852,29 @@ mission_failed: break; } + case MAVLINK_MSG_ID_SET_MODE: + { + // decode + mavlink_set_mode_t packet; + mavlink_msg_set_mode_decode(msg, &packet); + + if (!(packet.base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED)) { + // we ignore base_mode as there is no sane way to map + // from that bitmap to a APM flight mode. We rely on + // custom_mode instead. + break; + } + switch (packet.custom_mode) { + case MANUAL: + case STOP: + case AUTO: + set_mode((enum ControlMode)packet.custom_mode); + break; + } + + break; + } + default: break;