indentation and fix commander flags. It's impossible to control position at the same time as attitude so we have to disable some things. My logic is that all the control flags for position control should be opposite of the attitude control mode.

2 files changed, 5 insertions, 5 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 3da43a792..2c36b2e6c 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1834,8 +1834,8 @@ set_control_mode()
 				control_mode.flag_control_velocity_enabled = true;
 				break;
 			case OFFBOARD_CONTROL_MODE_DIRECT_POSITION:
-				control_mode.flag_control_rates_enabled = true;
-				control_mode.flag_control_attitude_enabled = true;
+				control_mode.flag_control_rates_enabled = false;
+				control_mode.flag_control_attitude_enabled = false;
 				control_mode.flag_control_altitude_enabled = true;
 				control_mode.flag_control_climb_rate_enabled = true;
 				control_mode.flag_control_position_enabled = true;
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 9d9d2a7c0..6721d017d 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -679,12 +679,12 @@ MulticopterPositionControl::task_main()
 
 				/* Make sure position control is selected i.e. not only velocity control */
 				if (_control_mode.flag_control_position_enabled) {
-				_pos_sp(0) = _local_pos_sp.x;
-				_pos_sp(1) = _local_pos_sp.y;
+					_pos_sp(0) = _local_pos_sp.x;
+					_pos_sp(1) = _local_pos_sp.y;
 				}
 
 				if (_control_mode.flag_control_altitude_enabled) {
-				_pos_sp(2) = _local_pos_sp.z;
+					_pos_sp(2) = _local_pos_sp.z;
 				}
 
 				_att_sp.yaw_body = _local_pos_sp.yaw;