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Failsafe landing without position control fixed

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Anton Babushkin
2014-04-25 22:26:51 +02:00
parent 0c1de81785
commit 2453b354fa
2 changed files with 17 additions and 2 deletions
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src/modules/commander/commander.cpp
+5 -2
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@@ -1747,8 +1747,11 @@ set_control_mode()
control_mode.flag_control_auto_enabled = true;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
/* in failsafe LAND mode position may be not available */
control_mode.flag_control_position_enabled = status.condition_local_position_valid;
control_mode.flag_control_velocity_enabled = status.condition_local_position_valid;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
}