Blimp: fixup mavlink mav type, fix mode ordering

Icatme · Sep 6, 2021 · 0ee8b45 · 0ee8b45
1 parent b77580f
commit 0ee8b45
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/Blimp/mode.cpp b/Blimp/mode.cpp
@@ -27,12 +27,12 @@ Mode *Blimp::mode_from_mode_num(const Mode::Number mode)
     Mode *ret = nullptr;
 
     switch (mode) {
-    case Mode::Number::MANUAL:
-        ret = &mode_manual;
-        break;
     case Mode::Number::LAND:
         ret = &mode_land;
         break;
+    case Mode::Number::MANUAL:
+        ret = &mode_manual;
+        break;
     case Mode::Number::VELOCITY:
         ret = &mode_velocity;
         break;

diff --git a/Blimp/mode.h b/Blimp/mode.h
@@ -13,8 +13,8 @@ class Mode
 
     // Auto Pilot Modes enumeration
     enum class Number : uint8_t {
-        MANUAL =        0,  // manual control
-        LAND =          1,  // currently just stops moving
+        LAND =          0,  // currently just stops moving
+        MANUAL =        1,  // manual control
         VELOCITY =      2,  // velocity mode
         LOITER =        3,  // loiter mode (position hold)
     };

diff --git a/Blimp/system.cpp b/Blimp/system.cpp
@@ -241,7 +241,7 @@ bool Blimp::should_log(uint32_t mask)
 // return MAV_TYPE corresponding to frame class
 MAV_TYPE Blimp::get_frame_mav_type()
 {
-    return MAV_TYPE_QUADROTOR; //TODO: Mavlink changes to allow type to be correct
+    return MAV_TYPE_AIRSHIP;
 }
 
 // return string corresponding to frame_class