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| author | Matt Beall <matt.beall@greypointcorp.com> | 2015-02-24 16:43:49 -0700 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-28 15:19:16 +0100 |
| commit | e2de72b882d7c74cdaafcfc74ab7176ef94a4455 (patch) | |
| tree | 2799a1bc7974749a4a5a05278c0aa1674c06c21a /src/modules/commander/commander.cpp | |
| parent | 5e199b3984e35e6a8078abbc36d9c9440e1cd7af (diff) | |
| download | px4-firmware-e2de72b882d7c74cdaafcfc74ab7176ef94a4455.tar.gz px4-firmware-e2de72b882d7c74cdaafcfc74ab7176ef94a4455.tar.bz2 px4-firmware-e2de72b882d7c74cdaafcfc74ab7176ef94a4455.zip | |
Added offboard actuator controls flags to offboard control mode and vehicle control mode to disable controls in att_control apps
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 5a362666c..e688b8fa5 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -2302,6 +2302,7 @@ set_control_mode() control_mode.flag_external_manual_override_ok = (!status.is_rotary_wing && !status.is_vtol); control_mode.flag_system_hil_enabled = status.hil_state == vehicle_status_s::HIL_STATE_ON; control_mode.flag_control_offboard_enabled = false; + control_mode.flag_control_offboard_actuator_control_enabled = false; switch (status.nav_state) { case vehicle_status_s::NAVIGATION_STATE_MANUAL: @@ -2452,6 +2453,14 @@ set_control_mode() control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_position; + control_mode.flag_control_offboard_actuator_control_enabled = offboard_control_mode.ignore_thrust && + offboard_control_mode.ignore_attitude && + offboard_control_mode.ignore_bodyrate && + offboard_control_mode.ignore_position && + offboard_control_mode.ignore_velocity && + offboard_control_mode.ignore_acceleration_force && + offboard_control_mode.actuator_control_mode; + break; default: |