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accel control in pos controller

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This commit is contained in:
Benoit Landry
2016-04-07 15:09:21 -07:00
committed by Lorenz Meier
parent ce810542e2
commit 95faba391a
3 changed files with 28 additions and 97 deletions
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src/modules/commander/commander.cpp
+8 -6
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@@ -3364,15 +3364,17 @@ set_control_mode()
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_velocity_enabled = (!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position) && !status.in_transition_mode;
!offboard_control_mode.ignore_position) && !status.in_transition_mode &&
!control_mode.flag_control_acceleration_enabled;
control_mode.flag_control_climb_rate_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;
control_mode.flag_control_climb_rate_enabled = (!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position) && !control_mode.flag_control_acceleration_enabled;
control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position && !status.in_transition_mode;
control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position && !status.in_transition_mode &&
!control_mode.flag_control_acceleration_enabled;
control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;
control_mode.flag_control_altitude_enabled = (!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position) && !control_mode.flag_control_acceleration_enabled;
break;