diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-25 22:26:51 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-25 22:26:51 +0200 |
| commit | 2453b354faa5a6ccdcca6afb94b54967679cc9de (patch) | |
| tree | 131c488beeffd49c4d576566699d1ea232008a69 /src/modules/commander | |
| parent | 0c1de817852dfcbb00b19bd52a16ce80e3c2bbb4 (diff) | |
| download | px4-firmware-2453b354faa5a6ccdcca6afb94b54967679cc9de.tar.gz px4-firmware-2453b354faa5a6ccdcca6afb94b54967679cc9de.tar.bz2 px4-firmware-2453b354faa5a6ccdcca6afb94b54967679cc9de.zip | |
Failsafe landing without position control fixed
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander.cpp | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 1827f252c..0bf752279 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1747,8 +1747,11 @@ set_control_mode() control_mode.flag_control_auto_enabled = true; control_mode.flag_control_rates_enabled = true; control_mode.flag_control_attitude_enabled = true; - control_mode.flag_control_position_enabled = true; - control_mode.flag_control_velocity_enabled = true; + + /* in failsafe LAND mode position may be not available */ + control_mode.flag_control_position_enabled = status.condition_local_position_valid; + control_mode.flag_control_velocity_enabled = status.condition_local_position_valid; + control_mode.flag_control_altitude_enabled = true; control_mode.flag_control_climb_rate_enabled = true; } |