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CollisionPrevention: clarify mode switch command to hold/loiter

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Matthias Grob 2024-11-12 18:44:09 +01:00 committed by Claudio Chies
parent 50ee5bd1b4
commit 84dbbb4351
1 changed files with 4 additions and 7 deletions
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11
src/lib/collision_prevention/CollisionPrevention.cpp
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@ -618,19 +618,16 @@ CollisionPrevention::modifySetpoint(Vector2f &setpoint_accel, const Vector2f &se
void CollisionPrevention::_publishVehicleCmdDoLoiter()
{
vehicle_command_s command{};
command.timestamp = getTime();
command.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE;
command.param1 = (float)1; // base mode
command.param3 = (float)0; // sub mode
command.param1 = 1.f; // base mode VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED
command.param2 = (float)PX4_CUSTOM_MAIN_MODE_AUTO;
command.param3 = (float)PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
command.target_system = 1;
command.target_component = 1;
command.source_system = 1;
command.source_component = 1;
command.confirmation = false;
command.from_external = false;
command.param2 = (float)PX4_CUSTOM_MAIN_MODE_AUTO;
command.param3 = (float)PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
// publish the vehicle command
command.timestamp = getTime();
_vehicle_command_pub.publish(command);
}