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working offboard

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This commit is contained in:
tnaegeli
2012-10-09 16:31:04 +02:00
parent f292b03772
commit 613e12fcac
7 changed files with 79 additions and 62 deletions
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apps/commander/state_machine_helper.c
+3 -3
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@@ -503,7 +503,7 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c
current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL;
current_status->flag_control_manual_enabled = true; //XXX
/* enable attitude control per default */
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
@@ -518,7 +518,7 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED;
current_status->flag_control_manual_enabled = true; //XXX
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);
@@ -533,7 +533,7 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur
int old_mode = current_status->flight_mode;
current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO;
current_status->flag_control_manual_enabled = true; //XXX
current_status->flag_control_attitude_enabled = false;
current_status->flag_control_attitude_enabled = true;
current_status->flag_control_rates_enabled = true;
if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd);