From 9cbfa2ca957ea7c55a2dbbd2f8d20dd5ddc2ff6a Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 18 May 2021 11:47:06 +0200 Subject: [PATCH] manual_control: ORBIT and PRECLAND not supported ORBIT and PRECLAND are not actually possible on the flight mode switch. --- src/modules/manual_control/ManualControl.cpp | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp index 1ac497e84f..5d12c7a779 100644 --- a/src/modules/manual_control/ManualControl.cpp +++ b/src/modules/manual_control/ManualControl.cpp @@ -391,15 +391,11 @@ void ManualControl::send_mode_command(int32_t commander_main_state) break; case commander_state_s::MAIN_STATE_AUTO_PRECLAND: - command.param2 = PX4_CUSTOM_MAIN_MODE_AUTO; - command.param3 = PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND; - break; + // FALLTHROUGH case commander_state_s::MAIN_STATE_ORBIT: - // TODO: check if this works without the DO_ORBIT command - command.param2 = PX4_CUSTOM_MAIN_MODE_POSCTL; - command.param3 = PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT; - break; + PX4_WARN("Unhandled main_state"); + return; case commander_state_s::MAIN_STATE_MAX: