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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 10:02:07 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 10:02:07 +0100 |
| commit | 16b9f666e790a2b939f7890b39cc6e4cf2552165 (patch) | |
| tree | ee936b06d15e75e12b175f6786772781aff32cd8 /src/modules/commander | |
| parent | e16c4ff76e7eff2da88bcbef5d05dd4ba11e7203 (diff) | |
| parent | c3ed35f5cc8e2617e61747e904dbaa652d1cc2c8 (diff) | |
| download | px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.tar.gz px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.tar.bz2 px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.zip | |
Merge remote-tracking branch 'upstream/master' into dev_ros
Conflicts:
src/lib/mathlib/math/Matrix.hpp
src/modules/mc_att_control/mc_att_control_main.cpp
src/modules/uORB/topics/vehicle_status.h
src/platforms/px4_includes.h
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index dc0594bf2..086f291f6 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1267,7 +1267,7 @@ int commander_thread_main(int argc, char *argv[]) if (updated) { /* vtol status changed */ orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status); - + status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab; /* Make sure that this is only adjusted if vehicle realy is of type vtol*/ if (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || VEHICLE_TYPE_VTOL_QUADROTOR) { status.is_rotary_wing = vtol_status.vtol_in_rw_mode; @@ -2246,8 +2246,8 @@ set_control_mode() case NAVIGATION_STATE_MANUAL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; - control_mode.flag_control_rates_enabled = status.is_rotary_wing; - control_mode.flag_control_attitude_enabled = status.is_rotary_wing; + control_mode.flag_control_rates_enabled = (status.is_rotary_wing || status.vtol_fw_permanent_stab); + control_mode.flag_control_attitude_enabled = (status.is_rotary_wing || status.vtol_fw_permanent_stab); control_mode.flag_control_altitude_enabled = false; control_mode.flag_control_climb_rate_enabled = false; control_mode.flag_control_position_enabled = false; |