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set altitude control flag for velocity control

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This commit is contained in:
Andreas Antener
2015-07-03 14:36:55 +02:00
parent 3ef6212155
commit 88d200e3a4
2 changed files with 4 additions and 2 deletions
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src/modules/commander/commander.cpp
+2 -1
View File
@@ -2637,7 +2637,8 @@ set_control_mode()
control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position;
control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_position;
control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;
break;
src/platforms/ros/nodes/commander/commander.cpp
+2 -1
View File
@@ -135,7 +135,8 @@ void Commander::SetOffboardControl(const px4::offboard_control_mode &msg_offboar
msg_vehicle_control_mode.flag_control_position_enabled = !msg_offboard_control_mode.ignore_position;
msg_vehicle_control_mode.flag_control_altitude_enabled = !msg_offboard_control_mode.ignore_position;
msg_vehicle_control_mode.flag_control_altitude_enabled = !msg_offboard_control_mode.ignore_velocity ||
!msg_offboard_control_mode.ignore_position;
}
void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg,