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fw att control: use RC only if in manual

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This commit is contained in:
Thomas Gubler
2014-08-22 00:39:44 +02:00
parent c402ac28ec
commit 1a14ff250e
1 changed files with 8 additions and 1 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+8 -1
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@@ -717,7 +717,14 @@ FixedwingAttitudeControl::task_main()
float pitch_sp = _parameters.pitchsp_offset_rad;
float throttle_sp = 0.0f;
if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) {
/* Read attitude setpoint from uorb if
* - velocity control or position control is enabled (pos controller is running)
* - manual control is disabled (another app may send the setpoint, but it should
* for sure not be set from the remote control values)
*/
if (_vcontrol_mode.flag_control_velocity_enabled ||
_vcontrol_mode.flag_control_position_enabled ||
!_vcontrol_mode.flag_control_manual_enabled) {
/* read in attitude setpoint from attitude setpoint uorb topic */
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;