Commit de38e49b authored by Lorenz Meier's avatar Lorenz Meier

Merge pull request #623 from julianoes/hil_cmds

include HIL bit, this makes HIL without RC working again
parents 113ee261 144dcddd
...@@ -539,6 +539,8 @@ public: ...@@ -539,6 +539,8 @@ public:
bool isAuto(); bool isAuto();
/** @brief Check if vehicle is armed */ /** @brief Check if vehicle is armed */
bool isArmed() const { return systemIsArmed; } bool isArmed() const { return systemIsArmed; }
/** @brief Check if vehicle is in HIL mode */
bool isHilEnabled() const { return hilEnabled; }
/** @brief Get reference to the waypoint manager **/ /** @brief Get reference to the waypoint manager **/
UASWaypointManager* getWaypointManager() { UASWaypointManager* getWaypointManager() {
......
...@@ -230,8 +230,8 @@ void UASControlWidget::setMode(int mode) ...@@ -230,8 +230,8 @@ void UASControlWidget::setMode(int mode)
void UASControlWidget::transmitMode() void UASControlWidget::transmitMode()
{ {
UASInterface* uas = UASManager::instance()->getUASForId(this->uasID); UASInterface* uas_iface = UASManager::instance()->getUASForId(this->uasID);
if (uas) { if (uas_iface) {
if (modeIdx >= 0 && modeIdx < modesNum) { if (modeIdx >= 0 && modeIdx < modesNum) {
struct full_mode_s mode = modesList[modeIdx]; struct full_mode_s mode = modesList[modeIdx];
// include armed state // include armed state
...@@ -241,6 +241,14 @@ void UASControlWidget::transmitMode() ...@@ -241,6 +241,14 @@ void UASControlWidget::transmitMode()
mode.baseMode &= ~MAV_MODE_FLAG_SAFETY_ARMED; mode.baseMode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
} }
UAS* uas = dynamic_cast<UAS*>(uas_iface);
if (uas->isHilEnabled()) {
mode.baseMode |= MAV_MODE_FLAG_HIL_ENABLED;
} else {
mode.baseMode &= ~MAV_MODE_FLAG_HIL_ENABLED;
}
uas->setMode(mode.baseMode, mode.customMode); uas->setMode(mode.baseMode, mode.customMode);
QString modeText = ui.modeComboBox->currentText(); QString modeText = ui.modeComboBox->currentText();
......
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