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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-19 08:43:16 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-19 08:43:16 +0200 |
| commit | 3370ceceaf706dda0856888b09c1086e8bf79c8d (patch) | |
| tree | 7a273bfa22e722ee150719560d653452320c839e /src/modules/commander/commander.cpp | |
| parent | ffc2a8b7a358a2003e5ed548c41878b33e7aa726 (diff) | |
| download | px4-firmware-3370ceceaf706dda0856888b09c1086e8bf79c8d.tar.gz px4-firmware-3370ceceaf706dda0856888b09c1086e8bf79c8d.tar.bz2 px4-firmware-3370ceceaf706dda0856888b09c1086e8bf79c8d.zip | |
vehicle_control_mode.flag_armed added, reset integrals in multirotor_att_control when disarmed
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ab7d2e6cf..7d74e0cfe 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1235,8 +1235,9 @@ int commander_thread_main(int argc, char *argv[]) } /* publish control mode */ - if (navigation_state_changed) { + if (navigation_state_changed || arming_state_changed) { /* publish new navigation state */ + control_mode.flag_armed = armed.armed; // copy armed state to vehicle_control_mode topic control_mode.counter++; control_mode.timestamp = t1; orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode); |