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Fixed offboard_control_pos_sp to be passed to _pos_sp vector. Added checks for position and altitude control modes.

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t0ni0
2014-06-03 23:55:21 -04:00
parent e12d3af503
commit f1b6a3f44f
1 changed files with 10 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+10 -3
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@@ -681,9 +681,16 @@ MulticopterPositionControl::task_main()
}
/* Hopefully no one dies from this */
pos(0) = _offboard_control_pos_sp.p1;
pos(1) = _offboard_control_pos_sp.p2;
pos(2) = _offboard_control_pos_sp.p4;
/* Make sure position control is selected i.e. not only velocity control */
if (_control_mode.flag_control_position_enabled) {
_pos_sp(0) = _offboard_control_pos_sp.p1;
_pos_sp(1) = _offboard_control_pos_sp.p2;
}
if (_control_mode.flag_control_altitude_enabled) {
_pos_sp(2) = _offboard_control_pos_sp.p4;
}
_att_sp.yaw_body = _offboard_control_pos_sp.p3;
} else {