From 1b7319d2e55782e09880ca8204bcd40860a4808c Mon Sep 17 00:00:00 2001 From: Benoit Landry Date: Wed, 20 Apr 2016 12:13:20 -0700 Subject: [PATCH] adding the position control mode change for accel control back to the commander --- src/modules/commander/commander.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index d0148d3f19..7bfc203e5c 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -3363,6 +3363,9 @@ set_control_mode() control_mode.flag_control_rattitude_enabled = false; + control_mode.flag_control_acceleration_enabled = !offboard_control_mode.ignore_acceleration_force && + !status.in_transition_mode; + control_mode.flag_control_velocity_enabled = (!offboard_control_mode.ignore_velocity || !offboard_control_mode.ignore_position) && !status.in_transition_mode && !control_mode.flag_control_acceleration_enabled;