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code clean up

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This commit is contained in:
Diogo Machado
2014-02-26 17:07:29 +00:00
parent 0656aae3cb
commit be4af0ab3b
3 changed files with 2 additions and 4 deletions
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src/examples/jetdrive_control/jetdrive_control_main.cpp
+1 -1
View File
@@ -558,7 +558,7 @@ JetdriveControl::task_main()
arming_status_poll();
vehicle_manual_poll();
if(_v_control_mode.flag_external_manual_override_ok)
if(!_v_control_mode.flag_control_offboard_enabled)
{
/* manual/direct control */
_actuators.control[0] = _manual_control_sp .roll;
src/modules/commander/commander.cpp
-2
View File
@@ -1728,7 +1728,6 @@ set_control_mode()
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_external_manual_override_ok = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
control_mode.flag_control_rates_enabled = true;
@@ -1737,7 +1736,6 @@ set_control_mode()
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_external_manual_override_ok = false;
break;
default:
control_mode.flag_control_rates_enabled = false;
src/modules/mavlink/mavlink_receiver.cpp
+1 -1
View File
@@ -358,7 +358,7 @@ handle_message(mavlink_message_t *msg)
} else {
/* publish */
orb_publish(ORB_ID(vehicle_rates_setpoint), &rates_sp);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
}
break;
case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE: