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Run mc_pos_control for acceleration control mode flag

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This commit is contained in:
Matthias Grob 2021-03-11 14:16:58 +01:00 committed by Daniel Agar
parent 6a6352577c
commit ceb445caa0
2 changed files with 1 additions and 3 deletions
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2
src/modules/commander/Commander.cpp
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@ -3336,8 +3336,6 @@ Commander::update_control_mode()
_vehicle_control_mode.flag_control_climb_rate_enabled = true;
_vehicle_control_mode.flag_control_position_enabled = !_status.in_transition_mode;
_vehicle_control_mode.flag_control_velocity_enabled = !_status.in_transition_mode;
_vehicle_control_mode.flag_control_acceleration_enabled = false;
_vehicle_control_mode.flag_control_termination_enabled = false;
break;
default:

2
src/modules/mc_pos_control/MulticopterPositionControl.cpp
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@ -292,7 +292,7 @@ void MulticopterPositionControl::Run()
PositionControlStates states{set_vehicle_states(local_pos)};
if (_control_mode.flag_control_climb_rate_enabled) {
if (_control_mode.flag_control_acceleration_enabled || _control_mode.flag_control_climb_rate_enabled) {
_trajectory_setpoint_sub.update(&_setpoint);