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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-31 00:41:11 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-31 00:41:11 +0100 |
| commit | 7972a56076058331e43a8a1e06c3b2c87e833bce (patch) | |
| tree | b0ee953ec808131ab60d90a252a160c2a8fc07fa /apps/commander/commander.c | |
| parent | 1b82dbb58db9b7a279841714fe64c7830f71e290 (diff) | |
| download | px4-firmware-7972a56076058331e43a8a1e06c3b2c87e833bce.tar.gz px4-firmware-7972a56076058331e43a8a1e06c3b2c87e833bce.tar.bz2 px4-firmware-7972a56076058331e43a8a1e06c3b2c87e833bce.zip | |
State machine / switching improvements
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 10 |
1 files changed, 3 insertions, 7 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index f47e48191..3ad90c029 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1778,20 +1778,16 @@ int commander_thread_main(int argc, char *argv[]) } else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) { /* check auto mode switch for correct mode */ if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) { - /* enable stabilized mode */ - update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); + /* enable guided mode */ + update_state_machine_mode_guided(stat_pub, ¤t_status, mavlink_fd); } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) { update_state_machine_mode_auto(stat_pub, ¤t_status, mavlink_fd); - } else { - update_state_machine_mode_hold(stat_pub, ¤t_status, mavlink_fd); } } else { /* center stick position, set SAS for all vehicle types */ - current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - current_status.flag_control_attitude_enabled = true; - current_status.flag_control_rates_enabled = true; + update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); } /* handle the case where RC signal was regained */ |