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preflight check: set vehicle_control_mode flags

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not sure if all of these are needed, but with all of them the allocator
runs, and with only flag_control_allocation_enabled it does not.
This commit is contained in:
Balduin 2025-02-14 10:59:42 +01:00
parent 01a65bfcf6
commit a3cca099a8
1 changed files with 15 additions and 0 deletions
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15
src/modules/commander/ModeUtil/control_mode.cpp
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@ -178,6 +178,21 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
// enabling literally all of these makes the allocator run nicely.
// enabling only allocator, it will not run.
// surely there is like one or two which we really need and the rest can be dropped...
case vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK:
vehicle_control_mode.flag_control_auto_enabled = true;
vehicle_control_mode.flag_control_position_enabled = true;
vehicle_control_mode.flag_control_velocity_enabled = true;
vehicle_control_mode.flag_control_altitude_enabled = true;
vehicle_control_mode.flag_control_climb_rate_enabled = true;
vehicle_control_mode.flag_control_attitude_enabled = true;
vehicle_control_mode.flag_control_rates_enabled = true;
vehicle_control_mode.flag_control_allocation_enabled = true;
break;
// vehicle_status_s::NAVIGATION_STATE_EXTERNALx: handled in ModeManagement
default:
break;