Commit aacf2325 authored by Vladimir Ermakov's avatar Vladimir Ermakov
Browse files

Merge pull request #507 from bluerobotics/feat/ardusub

Treat submarine vehicles like copter vehicles
parents 259e4cbd 71ece95d
......@@ -162,6 +162,8 @@ std::string UAS::str_mode_v10(uint8_t base_mode, uint32_t custom_mode) {
return str_mode_cmap(arduplane_cmode_map, custom_mode);
else if (type == MAV_TYPE_GROUND_ROVER)
return str_mode_cmap(apmrover2_cmode_map, custom_mode);
else if (type == MAV_TYPE_SUBMARINE)
return str_mode_cmap(arducopter_cmode_map, custom_mode);
else {
ROS_WARN_THROTTLE_NAMED(30, "uas", "MODE: Unknown APM based FCU! Type: %d", type);
return str_custom_mode(custom_mode);
......@@ -221,6 +223,8 @@ bool UAS::cmode_from_str(std::string cmode_str, uint32_t &custom_mode) {
return cmode_find_cmap(arduplane_cmode_map, cmode_str, custom_mode);
else if (type == MAV_TYPE_GROUND_ROVER)
return cmode_find_cmap(apmrover2_cmode_map, cmode_str, custom_mode);
else if (type == MAV_TYPE_SUBMARINE)
return cmode_find_cmap(arducopter_cmode_map, cmode_str, custom_mode);
}
else if (MAV_AUTOPILOT_PX4 == ap)
return cmode_find_cmap(px4_cmode_map, cmode_str, custom_mode);
......
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