*** empty log message ***

sw/airborne/booz_autopilot.c

@@ -23,6 +23,10 @@ void booz_autopilot_periodic_task(void) {
     booz_control_attitude_run();
     SetCommands(booz_control_commands);
     break;
+  case BOOZ_AP_MODE_NAV:
+    booz_control_nav_run();
+    SetCommands(booz_control_commands);
+    break;
   }
 
 }

sw/airborne/booz_autopilot.h

@@ -19,6 +19,6 @@ extern void booz_autopilot_event_task(void);
 #define BOOZ_AP_MODE_OF_PPRZ(mode)				\
   ((mode) < TRESHOLD_RATE_PPRZ ? BOOZ_AP_MODE_RATE :		\
    (mode) < TRESHOLD_ATTITUDE_PPRZ ? BOOZ_AP_MODE_ATTITUDE :	\
-   BOOZ_AP_MODE_ATTITUDE )
+   BOOZ_AP_MODE_NAV )
 
 #endif /* BOOZ_AUTOPILOT_H */

sw/airborne/booz_control.c

@@ -132,3 +132,12 @@ void booz_control_attitude_run(void) {
 
 
 }
+
+
+
+void booz_control_nav_run(void) {
+  booz_control_commands[COMMAND_P] = 0;
+  booz_control_commands[COMMAND_Q] = 0;
+  booz_control_commands[COMMAND_R] = 0;
+  booz_control_commands[COMMAND_THROTTLE] = 0;
+}

sw/airborne/booz_control.h

@@ -12,6 +12,8 @@ extern void booz_control_rate_run(void);
 extern void booz_control_attitude_compute_setpoints(void);
 extern void booz_control_attitude_run(void);
 
+extern void booz_control_nav_run(void);
+
 extern float booz_control_p_sp;
 extern float booz_control_q_sp;
 extern float booz_control_r_sp;