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| author | Diogo Machado <dmachado@lsa.isep.ipp.pt> | 2014-02-26 17:07:29 +0000 |
|---|---|---|
| committer | Diogo Machado <dmachado@lsa.isep.ipp.pt> | 2014-02-26 17:07:29 +0000 |
| commit | be4af0ab3bd1b4313ba23cbe4c7e2702d56d3644 (patch) | |
| tree | 006769e8fb5e6805e6648fc0619aa0ff84cdfcd4 | |
| parent | 0656aae3cb46f405888d8130e9db4bb3f9dd529a (diff) | |
| download | px4-firmware-be4af0ab3bd1b4313ba23cbe4c7e2702d56d3644.tar.gz px4-firmware-be4af0ab3bd1b4313ba23cbe4c7e2702d56d3644.tar.bz2 px4-firmware-be4af0ab3bd1b4313ba23cbe4c7e2702d56d3644.zip | |
code clean up
| -rw-r--r-- | src/examples/jetdrive_control/jetdrive_control_main.cpp | 2 | ||||
| -rw-r--r-- | src/modules/commander/commander.cpp | 2 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 2 |
3 files changed, 2 insertions, 4 deletions
diff --git a/src/examples/jetdrive_control/jetdrive_control_main.cpp b/src/examples/jetdrive_control/jetdrive_control_main.cpp index 409ccad63..01435f572 100644 --- a/src/examples/jetdrive_control/jetdrive_control_main.cpp +++ b/src/examples/jetdrive_control/jetdrive_control_main.cpp @@ -558,7 +558,7 @@ JetdriveControl::task_main() arming_status_poll(); vehicle_manual_poll(); - if(_v_control_mode.flag_external_manual_override_ok) + if(!_v_control_mode.flag_control_offboard_enabled) { /* manual/direct control */ _actuators.control[0] = _manual_control_sp .roll; diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 5e242050b..801ef8d01 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1728,7 +1728,6 @@ set_control_mode() control_mode.flag_control_climb_rate_enabled = false; control_mode.flag_control_position_enabled = false; control_mode.flag_control_velocity_enabled = false; - control_mode.flag_external_manual_override_ok = false; break; case OFFBOARD_CONTROL_MODE_DIRECT_RATES: control_mode.flag_control_rates_enabled = true; @@ -1737,7 +1736,6 @@ set_control_mode() control_mode.flag_control_climb_rate_enabled = false; control_mode.flag_control_position_enabled = false; control_mode.flag_control_velocity_enabled = false; - control_mode.flag_external_manual_override_ok = false; break; default: control_mode.flag_control_rates_enabled = false; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index ba886e29e..a834b2c3a 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -358,7 +358,7 @@ handle_message(mavlink_message_t *msg) } else { /* publish */ - orb_publish(ORB_ID(vehicle_rates_setpoint), &rates_sp); + orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); } break; case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE: |