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fixed Rate controller

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This commit is contained in:
tnaegeli
2012-10-04 09:28:04 +02:00
parent 147c5bb664
commit 733975ed2d
4 changed files with 63 additions and 58 deletions
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apps/commander/commander.c
+8 -7
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@@ -1307,18 +1307,19 @@ int commander_thread_main(int argc, char *argv[])
//printf("RC: y:%i/t:%i s:%i chans: %i\n", rc_yaw_scale, rc_throttle_scale, mode_switch_rc_value, rc.chan_count);
if (sp_man.override_mode_switch > STICK_ON_OFF_LIMIT) {
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = false;
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = true;
update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
} else if (sp_man.override_mode_switch < -STICK_ON_OFF_LIMIT) {
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = false;
update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = true;
update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
//update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
} else {
current_status.flag_control_attitude_enabled = true;
current_status.flag_control_rates_enabled = false;
current_status.flag_control_attitude_enabled = false;
current_status.flag_control_rates_enabled = true;
update_state_machine_mode_stabilized(stat_pub, &current_status, mavlink_fd);
}