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VehicleControlMode: add flag_control_allocation_enabled

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Allows (external) modes to directly publish actuator_{motors,servos}.
This commit is contained in:
Beat Küng
2023-08-21 20:53:51 -04:00
committed by Daniel Agar
parent 22e613a24a
commit 03365658d5
4 changed files with 17 additions and 0 deletions
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src/modules/commander/ModeUtil/control_mode.cpp
+1
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@@ -47,6 +47,7 @@ void getVehicleControlMode(bool armed, uint8_t nav_state, uint8_t vehicle_type,
vehicle_control_mode_s &vehicle_control_mode)
{
vehicle_control_mode.flag_armed = armed;
vehicle_control_mode.flag_control_allocation_enabled = true; // Always enabled by default
switch (nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL: