From 00c2086dd6f5a519efdd3d63b19e537dc0238086 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 5 Nov 2018 10:27:00 +0100 Subject: [PATCH] mc_pos_control: simplify weathervane logic --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index c220a0959d..abc734da87 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -633,8 +633,8 @@ MulticopterPositionControl::run() if (_wv_controller != nullptr) { // in manual mode we just want to use weathervane if position is controlled as well - if (_wv_controller->weathervane_enabled() && !(_control_mode.flag_control_manual_enabled - && !_control_mode.flag_control_position_enabled)) { + if (_wv_controller->weathervane_enabled() && (!_control_mode.flag_control_manual_enabled + || _control_mode.flag_control_position_enabled)) { _wv_controller->activate(); } else {