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Now setting flag_external_manual_override_ok to false when in offboard mode,so that fmu has control over outputs.

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Added handling of OFFBOARD_CONTROL_MODE_DIRECT_RATES.
This commit is contained in:
Diogo Machado
2014-02-26 14:31:23 +00:00
parent 52b29cae39
commit 0656aae3cb
2 changed files with 28 additions and 1 deletions
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src/modules/commander/commander.cpp
+10 -1
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@@ -1728,8 +1728,17 @@ set_control_mode()
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_external_manual_override_ok = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_external_manual_override_ok = false;
break;
default:
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;