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APM: support forcing MANUAL of FBWA mode over MAVLink

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This commit is contained in:
Andrew Tridgell 2012-08-24 15:18:22 +10:00
parent b4134de550
commit abe5bbfa4d
1 changed files with 25 additions and 0 deletions
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25
ArduPlane/GCS_Mavlink.pde
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@ -1053,6 +1053,31 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_DO_SET_MODE:
switch ((uint16_t)packet.param1) {
case MAV_MODE_MANUAL_ARMED:
case MAV_MODE_MANUAL_DISARMED:
set_mode(MANUAL);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_MODE_AUTO_ARMED:
case MAV_MODE_AUTO_DISARMED:
set_mode(AUTO);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_MODE_STABILIZE_DISARMED:
case MAV_MODE_STABILIZE_ARMED:
set_mode(FLY_BY_WIRE_A);
result = MAV_RESULT_ACCEPTED;
break;
default:
result = MAV_RESULT_UNSUPPORTED;
}
break;
default:
result = MAV_RESULT_UNSUPPORTED;