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Merge pull request #2258 from tumbili/VTOL_fix

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do not run fw attitude controller when in rotary wing mode (VTOL)
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Lorenz Meier 2015-06-04 21:08:58 +02:00
commit b9e8fd550a
1 changed files with 5 additions and 0 deletions
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5
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -796,6 +796,11 @@ FixedwingAttitudeControl::task_main()
//warnx("_actuators_airframe.control[1] = -1.0f;");
}
/* if we are in rotary wing mode, do nothing */
if (_vehicle_status.is_rotary_wing) {
continue;
}
/* decide if in stabilized or full manual control */
if (_vcontrol_mode.flag_control_attitude_enabled) {