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commander: publish vehicle_control_mode for OFFBOARD state

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Anton Babushkin
2014-02-17 16:50:00 +04:00
parent 08055e5d52
commit e8bee868e2
3 changed files with 30 additions and 4 deletions
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src/modules/mavlink/mavlink_receiver.cpp
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@@ -330,6 +330,7 @@ handle_message(mavlink_message_t *msg)
orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
}
// TODO use vehicle_control_mode.flag_control_offboard_enabled
if (v_status.main_state == MAIN_STATE_OFFBOARD) {
/* in offboard mode also publish setpoint directly */
switch (offboard_control_sp.mode) {