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manual_control: ORBIT and PRECLAND not supported

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ORBIT and PRECLAND are not actually possible on the flight mode switch.
This commit is contained in:
Julian Oes
2021-11-09 16:05:25 +01:00
committed by Matthias Grob
parent 2e9edfcd89
commit 9cbfa2ca95
1 changed files with 3 additions and 7 deletions
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src/modules/manual_control/ManualControl.cpp
+3 -7
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@@ -391,15 +391,11 @@ void ManualControl::send_mode_command(int32_t commander_main_state)
break; break;
case commander_state_s::MAIN_STATE_AUTO_PRECLAND: 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: case commander_state_s::MAIN_STATE_ORBIT:
// TODO: check if this works without the DO_ORBIT command PX4_WARN("Unhandled main_state");
command.param2 = PX4_CUSTOM_MAIN_MODE_POSCTL; return;
command.param3 = PX4_CUSTOM_SUB_MODE_POSCTL_ORBIT;
break;
case commander_state_s::MAIN_STATE_MAX: case commander_state_s::MAIN_STATE_MAX: