From 05b23a8b5487ca1f729b322f2ef5a22b74deacdc Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Thu, 14 Jan 2016 14:25:22 +0100 Subject: [PATCH] disable pos/vel control during mission in transitions --- src/modules/commander/commander.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index dfadb05e5b..6b5c29ab93 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -3018,8 +3018,8 @@ set_control_mode() control_mode.flag_control_attitude_enabled = true; control_mode.flag_control_altitude_enabled = true; control_mode.flag_control_climb_rate_enabled = true; - control_mode.flag_control_position_enabled = true; - control_mode.flag_control_velocity_enabled = true; + control_mode.flag_control_position_enabled = !status.in_transition_mode; + control_mode.flag_control_velocity_enabled = !status.in_transition_mode; control_mode.flag_control_termination_enabled = false; break;