From 9f17f3b0f3d309768cea8b89163988b1c47cf749 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 1 Nov 2021 17:50:16 +0100 Subject: [PATCH] ManualControl: correct source for RC mode switches without mode slot --- src/modules/manual_control/ManualControl.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp index dace12fd9e..2335dc2eb0 100644 --- a/src/modules/manual_control/ManualControl.cpp +++ b/src/modules/manual_control/ManualControl.cpp @@ -150,7 +150,7 @@ void ManualControl::Run() if (switches.return_switch != _previous_switches.return_switch) { if (switches.return_switch == manual_control_switches_s::SWITCH_POS_ON) { - sendActionRequest(action_request_s::ACTION_SWITCH_MODE, action_request_s::SOURCE_RC_MODE_SLOT, + sendActionRequest(action_request_s::ACTION_SWITCH_MODE, action_request_s::SOURCE_RC_SWITCH, commander_state_s::MAIN_STATE_AUTO_RTL); } else if (switches.return_switch == manual_control_switches_s::SWITCH_POS_OFF) { @@ -160,7 +160,7 @@ void ManualControl::Run() if (switches.loiter_switch != _previous_switches.loiter_switch) { if (switches.loiter_switch == manual_control_switches_s::SWITCH_POS_ON) { - sendActionRequest(action_request_s::ACTION_SWITCH_MODE, action_request_s::SOURCE_RC_MODE_SLOT, + sendActionRequest(action_request_s::ACTION_SWITCH_MODE, action_request_s::SOURCE_RC_SWITCH, commander_state_s::MAIN_STATE_AUTO_LOITER); } else if (switches.loiter_switch == manual_control_switches_s::SWITCH_POS_OFF) { @@ -170,7 +170,7 @@ void ManualControl::Run() if (switches.offboard_switch != _previous_switches.offboard_switch) { if (switches.offboard_switch == manual_control_switches_s::SWITCH_POS_ON) { - sendActionRequest(action_request_s::ACTION_SWITCH_MODE, action_request_s::SOURCE_RC_MODE_SLOT, + sendActionRequest(action_request_s::ACTION_SWITCH_MODE, action_request_s::SOURCE_RC_SWITCH, commander_state_s::MAIN_STATE_OFFBOARD); } else if (switches.offboard_switch == manual_control_switches_s::SWITCH_POS_OFF) {