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Position control needs to be deactivated during the transition otherwise it will fight itself.

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This commit is contained in:
Simon Wilks
2015-08-07 16:43:16 +02:00
committed by tumbili
parent e7364d302a
commit c448f955e0
3 changed files with 11 additions and 4 deletions
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src/modules/commander/commander.cpp
+6 -4
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@@ -197,6 +197,8 @@ static struct home_position_s _home;
static unsigned _last_mission_instance = 0;
struct vtol_vehicle_status_s vtol_status;
/**
* The daemon app only briefly exists to start
* the background job. The stack size assigned in the
@@ -1169,7 +1171,7 @@ int commander_thread_main(int argc, char *argv[])
/* Subscribe to vtol vehicle status topic */
int vtol_vehicle_status_sub = orb_subscribe(ORB_ID(vtol_vehicle_status));
struct vtol_vehicle_status_s vtol_status;
//struct vtol_vehicle_status_s vtol_status;
memset(&vtol_status, 0, sizeof(vtol_status));
vtol_status.vtol_in_rw_mode = true; //default for vtol is rotary wing
@@ -2682,13 +2684,13 @@ set_control_mode()
!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_acceleration_force;
control_mode.flag_control_velocity_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;
control_mode.flag_control_velocity_enabled = (!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position) && !vtol_status.vtol_in_trans_mode;
control_mode.flag_control_climb_rate_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;
control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position;
control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position && !vtol_status.vtol_in_trans_mode;
control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position;