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indentation and fix commander flags. It's impossible to control position at the same time as attitude so we have to disable some things. My logic is that all the control flags for position control should be opposite of the attitude control mode.

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andre-nguyen
2014-06-14 15:27:07 -04:00
parent d9b5efb263
commit 6cf890b46b
2 changed files with 5 additions and 5 deletions
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src/modules/commander/commander.cpp
+2 -2
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@@ -1834,8 +1834,8 @@ set_control_mode()
control_mode.flag_control_velocity_enabled = true;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_POSITION:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_rates_enabled = false;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;