diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-29 14:09:25 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-29 14:09:25 +0100 |
| commit | 6dead1d576b91811ba4bcd988ed4f4151eacafcc (patch) | |
| tree | 6f709f9271ae8ce3864630ec9dbe0c266d94dfb8 /src/platforms | |
| parent | 5237364a5a6a5e765bbb30cb20eb399dcd14489a (diff) | |
| download | px4-firmware-6dead1d576b91811ba4bcd988ed4f4151eacafcc.tar.gz px4-firmware-6dead1d576b91811ba4bcd988ed4f4151eacafcc.tar.bz2 px4-firmware-6dead1d576b91811ba4bcd988ed4f4151eacafcc.zip | |
commander dummy node: set control velocity enabled flag
Diffstat (limited to 'src/platforms')
| -rw-r--r-- | src/platforms/ros/nodes/commander/commander.cpp | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/platforms/ros/nodes/commander/commander.cpp b/src/platforms/ros/nodes/commander/commander.cpp index fee32b55f..3829cbc32 100644 --- a/src/platforms/ros/nodes/commander/commander.cpp +++ b/src/platforms/ros/nodes/commander/commander.cpp @@ -119,6 +119,7 @@ void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg, msg_vehicle_control_mode.flag_control_altitude_enabled = false; msg_vehicle_control_mode.flag_control_climb_rate_enabled = false; msg_vehicle_control_mode.flag_control_position_enabled = false; + msg_vehicle_control_mode.flag_control_velocity_enabled = false; break; @@ -132,6 +133,7 @@ void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg, msg_vehicle_control_mode.flag_control_altitude_enabled = true; msg_vehicle_control_mode.flag_control_climb_rate_enabled = true; msg_vehicle_control_mode.flag_control_position_enabled = true; + msg_vehicle_control_mode.flag_control_velocity_enabled = true; } else { msg_vehicle_status.main_state = msg_vehicle_status.MAIN_STATE_ALTCTL; msg_vehicle_status.nav_state = msg_vehicle_status.NAVIGATION_STATE_ALTCTL; @@ -141,6 +143,7 @@ void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg, msg_vehicle_control_mode.flag_control_altitude_enabled = true; msg_vehicle_control_mode.flag_control_climb_rate_enabled = true; msg_vehicle_control_mode.flag_control_position_enabled = false; + msg_vehicle_control_mode.flag_control_velocity_enabled = false; } break; } |