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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/mc_pos_control/MulticopterPositionControl.cpp
+1 -1
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@@ -289,7 +289,7 @@ void MulticopterPositionControl::Run()
PositionControlStates states{set_vehicle_states(local_pos)};
if (_control_mode.flag_control_acceleration_enabled || _control_mode.flag_control_climb_rate_enabled) {
if (_control_mode.flag_multicopter_position_control_enabled) {
_trajectory_setpoint_sub.update(&_setpoint);