diff options
| author | tnaegeli <naegelit@student.ethz.ch> | 2012-10-04 09:28:04 +0200 |
|---|---|---|
| committer | tnaegeli <naegelit@student.ethz.ch> | 2012-10-04 09:28:04 +0200 |
| commit | 733975ed2d7b5906e35dbdebad52ee8fa9d92fd6 (patch) | |
| tree | c567798e5310693457137bfd0f55fb94bdc8dd53 /apps/commander/commander.c | |
| parent | 147c5bb66429c3d1b7c693d7419ca153ae49336c (diff) | |
| download | px4-firmware-733975ed2d7b5906e35dbdebad52ee8fa9d92fd6.tar.gz px4-firmware-733975ed2d7b5906e35dbdebad52ee8fa9d92fd6.tar.bz2 px4-firmware-733975ed2d7b5906e35dbdebad52ee8fa9d92fd6.zip | |
fixed Rate controller
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 77e4da850..124ac8aeb 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1307,18 +1307,19 @@ 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; + current_status.flag_control_attitude_enabled = false; + current_status.flag_control_rates_enabled = true; 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); + current_status.flag_control_attitude_enabled = false; + current_status.flag_control_rates_enabled = true; + update_state_machine_mode_manual(stat_pub, ¤t_status, mavlink_fd); + //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; + current_status.flag_control_attitude_enabled = false; + current_status.flag_control_rates_enabled = true; update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); } |