From 44d05bac5509093b749837cfefde819d1479d2fa Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Thu, 16 Feb 2017 17:28:10 +0100 Subject: [PATCH] Rattitude: enable for FW in old style switch mapping --- src/modules/commander/commander.cpp | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 3701cb28df..814b5c78a2 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -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);