From 6e31638817b71f21d7443e37b04a41ced5920b8c Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 23 Nov 2023 18:58:38 +0100 Subject: [PATCH] control_mode: add allocation to orbit mode to not crash --- src/modules/commander/ModeUtil/control_mode.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/modules/commander/ModeUtil/control_mode.cpp b/src/modules/commander/ModeUtil/control_mode.cpp index 9d5483c2ea..2858054d36 100644 --- a/src/modules/commander/ModeUtil/control_mode.cpp +++ b/src/modules/commander/ModeUtil/control_mode.cpp @@ -168,12 +168,13 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type, case vehicle_status_s::NAVIGATION_STATE_ORBIT: vehicle_control_mode.flag_control_manual_enabled = false; vehicle_control_mode.flag_control_auto_enabled = false; - vehicle_control_mode.flag_control_rates_enabled = true; - vehicle_control_mode.flag_control_attitude_enabled = true; - vehicle_control_mode.flag_control_altitude_enabled = true; - vehicle_control_mode.flag_control_climb_rate_enabled = true; vehicle_control_mode.flag_control_position_enabled = true; vehicle_control_mode.flag_control_velocity_enabled = true; + vehicle_control_mode.flag_control_altitude_enabled = true; + vehicle_control_mode.flag_control_climb_rate_enabled = true; + vehicle_control_mode.flag_control_attitude_enabled = true; + vehicle_control_mode.flag_control_rates_enabled = true; + vehicle_control_mode.flag_control_allocation_enabled = true; break; // vehicle_status_s::NAVIGATION_STATE_EXTERNALx: handled in ModeManagement