Merge pull request mavlink#984 from julianoes/fix_hil_jmavsim

Set mode compatibility with jMAVSim
dao95 · Nov 19, 2014 · ca0bc68 · ca0bc68
2 parents 30cfe7e + 08d06d2
commit ca0bc68
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
@@ -569,8 +569,10 @@ class UAS : public UASInterface
     bool isAuto();
     /** @brief Check if vehicle is armed */
     bool isArmed() const { return systemIsArmed; }
-    /** @brief Check if vehicle is in HIL mode */
+    /** @brief Check if vehicle is supposed to be in HIL mode by the GS */
     bool isHilEnabled() const { return hilEnabled; }
+    /** @brief Check if vehicle is in HIL mode */
+    bool isHilActive() const { return base_mode & MAV_MODE_FLAG_HIL_ENABLED; }
 
     /** @brief Get reference to the waypoint manager **/
     UASWaypointManager* getWaypointManager() {

diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc
@@ -246,7 +246,7 @@ void UASControlWidget::transmitMode()
 
             UAS* uas = dynamic_cast<UAS*>(uas_iface);
 
-            if (uas->isHilEnabled()) {
+            if (uas->isHilEnabled() || uas->isHilActive()) {
                 mode.baseMode |= MAV_MODE_FLAG_HIL_ENABLED;
             } else {
                 mode.baseMode &= ~MAV_MODE_FLAG_HIL_ENABLED;