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| author | Julian Oes <julian@oes.ch> | 2013-11-06 23:11:14 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-11-06 23:11:14 +0100 |
| commit | c75c5a5f30cde02002d4db16d803dc979ce8d4d5 (patch) | |
| tree | c8bfa05004fd381c2840d1467044c2adbbeb5350 /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 989475144224137967c0998a3bd33d643126e324 (diff) | |
| download | px4-firmware-c75c5a5f30cde02002d4db16d803dc979ce8d4d5.tar.gz px4-firmware-c75c5a5f30cde02002d4db16d803dc979ce8d4d5.tar.bz2 px4-firmware-c75c5a5f30cde02002d4db16d803dc979ce8d4d5.zip | |
Fixedwing: Enable loiter mode, tested in HIL
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 0e5f805b4..345a08f7b 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -711,7 +711,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio _tecs.set_speed_weight(_parameters.speed_weight); /* execute navigation once we have a setpoint */ - if (_setpoint_valid) { + if (_setpoint_valid && _control_mode.flag_control_auto_enabled) { /* current waypoint (the one currently heading for) */ math::Vector2f curr_wp(global_triplet.current.lat / 1e7f, global_triplet.current.lon / 1e7f); |