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support force setpoints

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This commit is contained in:
Thomas Gubler
2014-07-17 09:11:57 +02:00
parent 9527cc8293
commit f460870738
5 changed files with 39 additions and 4 deletions
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src/modules/commander/commander.cpp
+9
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@@ -1951,6 +1951,15 @@ set_control_mode()
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_FORCE:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_force_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED:
case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED: