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Added offboard actuator controls flags to offboard control mode and vehicle control mode to disable controls in att_control apps

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Matt Beall
2015-02-24 16:43:49 -07:00
committed by Thomas Gubler
parent 5e199b3984
commit e2de72b882
7 changed files with 57 additions and 35 deletions
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src/modules/commander/commander.cpp
+9
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@@ -2302,6 +2302,7 @@ set_control_mode()
control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol);
control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON;
control_mode.flag_control_offboard_enabled = false;
control_mode.flag_control_offboard_actuator_control_enabled = false;
switch (status.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
@@ -2452,6 +2453,14 @@ set_control_mode()
control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_position;
control_mode.flag_control_offboard_actuator_control_enabled = offboard_control_mode.ignore_thrust &&
offboard_control_mode.ignore_attitude &&
offboard_control_mode.ignore_bodyrate &&
offboard_control_mode.ignore_position &&
offboard_control_mode.ignore_velocity &&
offboard_control_mode.ignore_acceleration_force &&
offboard_control_mode.actuator_control_mode;
break;
default: