From f93e600b8c842ed84e91274db3e64076ab6b219a Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Wed, 12 Aug 2015 16:12:44 +0200 Subject: [PATCH] consider transition state in posctl --- src/modules/commander/commander.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index bac72a81ce..7a67077a8a 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -2580,8 +2580,8 @@ set_control_mode() control_mode.flag_control_attitude_enabled = true; control_mode.flag_control_altitude_enabled = true; control_mode.flag_control_climb_rate_enabled = true; - control_mode.flag_control_position_enabled = true; - control_mode.flag_control_velocity_enabled = true; + control_mode.flag_control_position_enabled = !vtol_status.vtol_in_trans_mode; + control_mode.flag_control_velocity_enabled = !vtol_status.vtol_in_trans_mode; control_mode.flag_control_termination_enabled = false; break;