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OFFBOARD switch added, WIP

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Anton Babushkin
2014-01-22 16:52:35 +01:00
parent 93e096f63b
commit 1dc9785083
5 changed files with 34 additions and 21 deletions
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src/modules/commander/commander.cpp
+11
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@@ -1410,6 +1410,17 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
} else {
current_status->mission_switch = MISSION_SWITCH_MISSION;
}
/* offboard switch */
if (!isfinite(sp_man->offboard_switch)) {
current_status->offboard_switch = OFFBOARD_SWITCH_NONE;
} else if (sp_man->offboard_switch > STICK_ON_OFF_LIMIT) {
current_status->offboard_switch = OFFBOARD_SWITCH_OFFBOARD;
} else {
current_status->offboard_switch = OFFBOARD_SWITCH_ONBOARD;
}
}
transition_result_t