fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 00:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #171 from PX4/fault_detection

Browse Source 
Attitude / position estimation and controller improvements
This commit is contained in:
px4dev
2013-01-19 13:17:28 -08:00
parent 7eb7836d2d effc3001f4
commit c1a1207b9a
7 changed files with 375 additions and 252 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/commander/commander.c
+7 -6
View File
@@ -1850,15 +1850,16 @@ int commander_thread_main(int argc, char *argv[])
update_state_machine_mode_manual(stat_pub, &current_status, mavlink_fd);
} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
/* check auto mode switch for correct mode */
if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
/* enable guided mode */
update_state_machine_mode_guided(stat_pub, &current_status, mavlink_fd);
// /* check auto mode switch for correct mode */
// if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
// /* enable guided mode */
// update_state_machine_mode_guided(stat_pub, &current_status, mavlink_fd);
} else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) {
// } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) {
// XXX hardcode to auto for now
update_state_machine_mode_auto(stat_pub, &current_status, mavlink_fd);
}
// }
} else {
/* center stick position, set SAS for all vehicle types */