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Added support for postion_control offboard messages in commander.

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Benjamin O'Connell-Armand
2014-06-02 23:11:31 -04:00
parent 5c536ae46e
commit 1fc859b1b1
1 changed files with 8 additions and 0 deletions
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src/modules/commander/commander.cpp
+8
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@@ -1809,6 +1809,14 @@ set_control_mode()
control_mode.flag_control_offboard_enabled = true; control_mode.flag_control_offboard_enabled = true;
switch (sp_offboard.mode) { switch (sp_offboard.mode) {
case OFFBOARD_CONTROL_MODE_DIRECT_POSITION:
control_mode.flag_control_rates_enabled = false;
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 = true;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE: case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
control_mode.flag_control_rates_enabled = true; control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true; control_mode.flag_control_attitude_enabled = true;