diff options
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 13 |
1 files changed, 10 insertions, 3 deletions
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 d870b733f..b2693345c 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -681,9 +681,16 @@ MulticopterPositionControl::task_main() } /* Hopefully no one dies from this */ - pos(0) = _offboard_control_pos_sp.p1; - pos(1) = _offboard_control_pos_sp.p2; - pos(2) = _offboard_control_pos_sp.p4; + /* Make sure position control is selected i.e. not only velocity control */ + if (_control_mode.flag_control_position_enabled) { + _pos_sp(0) = _offboard_control_pos_sp.p1; + _pos_sp(1) = _offboard_control_pos_sp.p2; + } + + if (_control_mode.flag_control_altitude_enabled) { + _pos_sp(2) = _offboard_control_pos_sp.p4; + } + _att_sp.yaw_body = _offboard_control_pos_sp.p3; } else { |