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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-21 14:42:57 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-21 14:42:57 +0200 |
| commit | 8a11f76994f74e4b38e861d559b305c707d78190 (patch) | |
| tree | 69c9f0c05e9b28be2d108c51f8f6604fd505c1b5 /apps/commander/commander.c | |
| parent | eaa431e5ceaaab033510a522ffaf7a72e44e7ae6 (diff) | |
| download | px4-firmware-8a11f76994f74e4b38e861d559b305c707d78190.tar.gz px4-firmware-8a11f76994f74e4b38e861d559b305c707d78190.tar.bz2 px4-firmware-8a11f76994f74e4b38e861d559b305c707d78190.zip | |
Updated C files for attitude estimator
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 011a7be97..578bcd875 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1365,12 +1365,18 @@ int commander_thread_main(int argc, char *argv[]) //printf("RC: y:%i/t:%i s:%i chans: %i\n", rc_yaw_scale, rc_throttle_scale, mode_switch_rc_value, rc.chan_count); if (sp_man.override_mode_switch > STICK_ON_OFF_LIMIT) { + current_status.flag_control_attitude_enabled = true; + current_status.flag_control_rates_enabled = false; update_state_machine_mode_manual(stat_pub, ¤t_status, mavlink_fd); } else if (sp_man.override_mode_switch < -STICK_ON_OFF_LIMIT) { + current_status.flag_control_attitude_enabled = true; + current_status.flag_control_rates_enabled = false; update_state_machine_mode_auto(stat_pub, ¤t_status, mavlink_fd); } else { + current_status.flag_control_attitude_enabled = true; + current_status.flag_control_rates_enabled = false; update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); } |