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Merge pull request #3259 from PX4/mc_pos_hold

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reset position hold flag
This commit is contained in:
Roman Bapst
2015-11-25 13:25:17 +01:00
parent b42bcc48bf 78ace92530
commit bc08d8dc93
1 changed files with 10 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+10
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@@ -1141,6 +1141,16 @@ MulticopterPositionControl::task_main()
_run_pos_control = true; _run_pos_control = true;
_run_alt_control = true; _run_alt_control = true;
// reset the horizontal and vertical position hold flags for non-manual modes
// or if position is not controlled
if (!_control_mode.flag_control_position_enabled || !_control_mode.flag_control_manual_enabled) {
_pos_hold_engaged = false;
}
if (!_control_mode.flag_control_altitude_enabled || !_control_mode.flag_control_manual_enabled) {
_alt_hold_engaged = false;
}
/* select control source */ /* select control source */
if (_control_mode.flag_control_manual_enabled) { if (_control_mode.flag_control_manual_enabled) {
/* manual control */ /* manual control */