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fw_att_control add rattitude mode

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Daniel Agar
2017-02-18 08:03:19 +01:00
committed by Andreas Daniel Antener
parent 9120082b0c
commit e81e6a8296
4 changed files with 32 additions and 10 deletions
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src/modules/commander/commander.cpp
+1 -1
View File
@@ -3701,7 +3701,7 @@ set_control_mode()
control_mode.flag_control_auto_enabled = false;
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_rattitude_enabled = true;
control_mode.flag_control_rattitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
src/modules/commander/state_machine_helper.cpp
+1 -9
View File
@@ -377,16 +377,8 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
case commander_state_s::MAIN_STATE_MANUAL:
case commander_state_s::MAIN_STATE_STAB:
case commander_state_s::MAIN_STATE_ACRO:
ret = TRANSITION_CHANGED;
break;
case commander_state_s::MAIN_STATE_RATTITUDE:
/* ACRO and RATTITUDE only implemented in MC */
if (status->is_rotary_wing) {
ret = TRANSITION_CHANGED;
}
ret = TRANSITION_CHANGED;
break;
case commander_state_s::MAIN_STATE_ALTCTL: