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FW Position Control: fix setting of _control_mode_current to AUTO in VTOL landing

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The _control_mode_current wasn't updated otherwise, and only done so by luck
because we already set the current type to SETPOINT_TYPE_POSITION.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-12-16 16:37:51 -05:00
committed by Daniel Agar
parent 4b25fad862
commit f38fe24a98
1 changed files with 1 additions and 0 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.cpp
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@@ -710,6 +710,7 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now)
} }
} else { } else {
_control_mode_current = FW_POSCTRL_MODE_AUTO;
// in this case we want the waypoint handled as a position setpoint -- a submode in control_auto() // in this case we want the waypoint handled as a position setpoint -- a submode in control_auto()
_pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; _pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
} }