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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-04 10:56:55 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-04 10:56:55 +0200 |
| commit | 2a06b66845542b05e3cad3d21099e33adc213227 (patch) | |
| tree | 3b10d28cba955525c8ac37c7d1d348d0a91ac16a /apps/commander/state_machine_helper.c | |
| parent | dfae108e6aff6e77eb05def50d99fb5c6d2c28c8 (diff) | |
| download | px4-firmware-2a06b66845542b05e3cad3d21099e33adc213227.tar.gz px4-firmware-2a06b66845542b05e3cad3d21099e33adc213227.tar.bz2 px4-firmware-2a06b66845542b05e3cad3d21099e33adc213227.zip | |
Fixed inner yaw rate loop
Diffstat (limited to 'apps/commander/state_machine_helper.c')
| -rw-r--r-- | apps/commander/state_machine_helper.c | 13 |
1 files changed, 9 insertions, 4 deletions
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c index e1d24d6a6..1e82bc417 100644 --- a/apps/commander/state_machine_helper.c +++ b/apps/commander/state_machine_helper.c @@ -501,9 +501,10 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c { int old_mode = current_status->flight_mode; current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; - current_status->flag_control_manual_enabled = true; + current_status->flag_control_manual_enabled = true; //XXX /* enable attitude control per default */ - current_status->flag_control_attitude_enabled = true; + current_status->flag_control_attitude_enabled = false; + current_status->flag_control_rates_enabled = true; if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { @@ -516,7 +517,9 @@ void update_state_machine_mode_stabilized(int status_pub, struct vehicle_status_ { int old_mode = current_status->flight_mode; current_status->flight_mode = VEHICLE_FLIGHT_MODE_STABILIZED; - current_status->flag_control_manual_enabled = true; + current_status->flag_control_manual_enabled = true; //XXX + current_status->flag_control_attitude_enabled = false; + current_status->flag_control_rates_enabled = true; if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_AUTO) { @@ -529,7 +532,9 @@ void update_state_machine_mode_auto(int status_pub, struct vehicle_status_s *cur { int old_mode = current_status->flight_mode; current_status->flight_mode = VEHICLE_FLIGHT_MODE_AUTO; - current_status->flag_control_manual_enabled = true; + current_status->flag_control_manual_enabled = true; //XXX + current_status->flag_control_attitude_enabled = false; + current_status->flag_control_rates_enabled = true; if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_MANUAL || current_status->state_machine == SYSTEM_STATE_STABILIZED) { |