diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-17 09:11:57 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-17 09:12:45 +0200 |
| commit | f4608707389dbc30eb25db524d6e008c8033d052 (patch) | |
| tree | 2ee38354ab23387334166ee8720693a65511d8f1 /src/modules/commander/commander.cpp | |
| parent | 9527cc8293749b9ccdec015f587afef9698be1e6 (diff) | |
| download | px4-firmware-f4608707389dbc30eb25db524d6e008c8033d052.tar.gz px4-firmware-f4608707389dbc30eb25db524d6e008c8033d052.tar.bz2 px4-firmware-f4608707389dbc30eb25db524d6e008c8033d052.zip | |
support force setpoints
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index cc68c4e36..fc9560e18 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1951,6 +1951,15 @@ set_control_mode() control_mode.flag_control_position_enabled = false; control_mode.flag_control_velocity_enabled = false; break; + case OFFBOARD_CONTROL_MODE_DIRECT_FORCE: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_force_enabled = true; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED: case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED: case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED: |