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Use mode_request for RC mode switching

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This commit is contained in:
Matthias Grob
2021-11-09 16:05:25 +01:00
parent f8e4846851
commit 052e29267d
7 changed files with 44 additions and 158 deletions
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src/modules/commander/Commander.hpp
+2
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@@ -73,6 +73,7 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/mode_request.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/power_button_state.h>
@@ -399,6 +400,7 @@ private:
uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
uORB::Subscription _land_detector_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _mode_request_sub {ORB_ID(mode_request)};
uORB::Subscription _safety_sub{ORB_ID(safety)};
uORB::Subscription _system_power_sub{ORB_ID(system_power)};
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};