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use vehicle_status instead of vtol_status

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This commit is contained in:
Andreas Antener
2015-08-13 09:00:15 +02:00
committed by Simon Wilks
parent f93e600b8c
commit 5536360c49
1 changed files with 4 additions and 4 deletions
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src/modules/commander/commander.cpp
+4 -4
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@@ -2580,8 +2580,8 @@ set_control_mode()
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = !vtol_status.vtol_in_trans_mode;
control_mode.flag_control_velocity_enabled = !vtol_status.vtol_in_trans_mode;
control_mode.flag_control_position_enabled = !status.in_transition_mode;
control_mode.flag_control_velocity_enabled = !status.in_transition_mode;
control_mode.flag_control_termination_enabled = false;
break;
@@ -2690,12 +2690,12 @@ set_control_mode()
!offboard_control_mode.ignore_acceleration_force;
control_mode.flag_control_velocity_enabled = (!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position) && !vtol_status.vtol_in_trans_mode;
!offboard_control_mode.ignore_position) && !status.in_transition_mode;
control_mode.flag_control_climb_rate_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;
control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position && !vtol_status.vtol_in_trans_mode;
control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position && !status.in_transition_mode;
control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;