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Commander: Store last manual stick setpoints only when actually in manual control mode

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This commit is contained in:
Lorenz Meier 2017-03-11 22:33:33 +01:00
parent bef24b906e
commit 10dcb90d52
1 changed files with 11 additions and 2 deletions
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13
src/modules/commander/commander.cpp
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@ -3361,9 +3361,18 @@ set_main_state_rc(struct vehicle_status_s *status_local)
(_last_sp_man.stab_switch == sp_man.stab_switch) &&
(_last_sp_man.man_switch == sp_man.man_switch)))) {
// update these fields for the geofence system
// store the last manual control setpoint set by the pilot in a manual state
// if the system now later enters an autonomous state the pilot can move
// the sticks to break out of the autonomous state
if (!warning_action_on
&& (internal_state.main_state == commander_state_s::MAIN_STATE_MANUAL ||
internal_state.main_state == commander_state_s::MAIN_STATE_ALTCTL ||
internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL ||
internal_state.main_state == commander_state_s::MAIN_STATE_ACRO ||
internal_state.main_state == commander_state_s::MAIN_STATE_RATTITUDE ||
internal_state.main_state == commander_state_s::MAIN_STATE_STAB)) {
if (!warning_action_on) {
_last_sp_man.timestamp = sp_man.timestamp;
_last_sp_man.x = sp_man.x;
_last_sp_man.y = sp_man.y;