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en-/disable mc position controller using explicit control mode flag

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bresch
2021-06-09 16:03:52 +02:00
committed by Mathieu Bresciani
parent 17ea92bb54
commit 514845592b
3 changed files with 10 additions and 1 deletions
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src/modules/commander/Commander.cpp
+8
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@@ -3328,6 +3328,14 @@ Commander::update_control_mode()
break;
}
_vehicle_control_mode.flag_multicopter_position_control_enabled =
(_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
&& (_vehicle_control_mode.flag_control_altitude_enabled
|| _vehicle_control_mode.flag_control_climb_rate_enabled
|| _vehicle_control_mode.flag_control_position_enabled
|| _vehicle_control_mode.flag_control_velocity_enabled
|| _vehicle_control_mode.flag_control_acceleration_enabled);
_vehicle_control_mode.timestamp = hrt_absolute_time();
_control_mode_pub.publish(_vehicle_control_mode);
}