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Rattitude: enable for FW in old style switch mapping

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Andreas Antener
2017-02-16 17:28:10 +01:00
committed by Andreas Daniel Antener
parent e81e6a8296
commit 44d05bac55
1 changed files with 1 additions and 8 deletions
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src/modules/commander/commander.cpp
+1 -8
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@@ -3567,14 +3567,7 @@ set_main_state_rc(struct vehicle_status_s *status_local)
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_ACRO, main_state_prev, &status_flags, &internal_state);
} else if (sp_man.rattitude_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* Similar to acro transitions for multirotors. FW aircraft don't have a
* rattitude mode.*/
if (status.is_rotary_wing) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_RATTITUDE, main_state_prev, &status_flags, &internal_state);
} else {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, main_state_prev, &status_flags, &internal_state);
}
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_RATTITUDE, main_state_prev, &status_flags, &internal_state);
} else if (sp_man.stab_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, main_state_prev, &status_flags, &internal_state);