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Add Guided mode handling to Mavlink telemetry #10424

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Add Guided mode handling to Mavlink telemetry #10424

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20 changes: 18 additions & 2 deletions src/main/telemetry/mavlink.c
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Original file line number Diff line number Diff line change
Expand Up @@ -196,7 +196,15 @@ static APM_COPTER_MODE inavToArduCopterMap(flightModeForTelemetry_e flightMode)
case FLM_HORIZON: return COPTER_MODE_STABILIZE;
case FLM_ANGLEHOLD: return COPTER_MODE_STABILIZE;
case FLM_ALTITUDE_HOLD: return COPTER_MODE_ALT_HOLD;
case FLM_POSITION_HOLD: return COPTER_MODE_POSHOLD;
case FLM_POSITION_HOLD:
{
if (IS_RC_MODE_ACTIVE(BOXGCSNAV)) {
return COPTER_MODE_GUIDED;
}
else {
return COPTER_MODE_POSHOLD;
}
}
case FLM_RTH: return COPTER_MODE_RTL;
case FLM_MISSION: return COPTER_MODE_AUTO;
case FLM_LAUNCH: return COPTER_MODE_THROW;
Expand Down Expand Up @@ -226,7 +234,15 @@ static APM_PLANE_MODE inavToArduPlaneMap(flightModeForTelemetry_e flightMode)
case FLM_HORIZON: return PLANE_MODE_STABILIZE;
case FLM_ANGLEHOLD: return PLANE_MODE_STABILIZE;
case FLM_ALTITUDE_HOLD: return PLANE_MODE_FLY_BY_WIRE_B;
case FLM_POSITION_HOLD: return PLANE_MODE_LOITER;
case FLM_POSITION_HOLD:
{
if (IS_RC_MODE_ACTIVE(BOXGCSNAV)) {
return PLANE_MODE_GUIDED;
}
else {
return PLANE_MODE_LOITER;
}
}
case FLM_RTH: return PLANE_MODE_RTL;
case FLM_MISSION: return PLANE_MODE_AUTO;
case FLM_CRUISE: return PLANE_MODE_CRUISE;
Expand Down
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