fly316/PX4-Autopilot
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This commit is contained in:
Diogo Machado
2014-02-18 11:10:52 +00:00
parent 3b270fbdab
commit 9c20f86899
1 changed files with 7 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+7 -1
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@@ -330,7 +330,13 @@ handle_message(mavlink_message_t *msg)
orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
}
// TODO use vehicle_control_mode.flag_control_offboard_enabled
static struct vehicle_control_mode_s _v_control_mode;
memset(&_v_control_mode, 0, sizeof(_v_control_mode));
/**< vehicle control mode subscription */
static int _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
// TODO use vehicle_control_mode.flag_control_offboard_enabled
if (v_status.main_state == MAIN_STATE_OFFBOARD) {
/* in offboard mode also publish setpoint directly */
switch (offboard_control_sp.mode) {