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prevent vtol from entering ACRO (temporary)

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This commit is contained in:
Andreas Antener
2016-03-10 15:48:35 +01:00
committed by Lorenz Meier
parent ceeedd739f
commit 55e1259f59
1 changed files with 5 additions and 2 deletions
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src/modules/commander/commander.cpp
+5 -2
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@@ -3001,10 +3001,13 @@ set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_s
/* manual mode is stabilized already for multirotors, so switch to acro
* for any non-manual mode
*/
if (status.is_rotary_wing) {
// XXX: put ACRO and STAB on separate switches
if (status.is_rotary_wing && !status.is_vtol) {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_ACRO);
} else {
} else if (!status.is_rotary_wing) {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_STAB);
} else {
res = main_state_transition(status_local,vehicle_status_s::MAIN_STATE_MANUAL);
}
}