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adding the position control mode change for accel control back to the commander

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Benoit Landry
2016-04-20 12:13:20 -07:00
committed by Lorenz Meier
parent 95faba391a
commit 1b7319d2e5
1 changed files with 3 additions and 0 deletions
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src/modules/commander/commander.cpp
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@@ -3363,6 +3363,9 @@ set_control_mode()
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_acceleration_enabled = !offboard_control_mode.ignore_acceleration_force &&
!status.in_transition_mode;
control_mode.flag_control_velocity_enabled = (!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position) && !status.in_transition_mode &&
!control_mode.flag_control_acceleration_enabled;