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Commander: enable RC override in takeoff

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and remaining auto modes which are used more rarely.
This commit is contained in:
Matthias Grob
2020-02-24 13:47:08 +01:00
parent d9ae242760
commit 46f76cb621
1 changed files with 5 additions and 2 deletions
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src/modules/commander/Commander.cpp
+5 -2
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@@ -1749,10 +1749,13 @@ Commander::run()
const bool override_auto_mode =
(_param_rc_override.get() & OVERRIDE_AUTO_MODE_BIT) &&
(_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
(_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_TAKEOFF ||
_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL ||
_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION ||
_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER);
_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER ||
_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET ||
_internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND);
const bool override_offboard_mode =
(_param_rc_override.get() & OVERRIDE_OFFBOARD_MODE_BIT) &&