diff options
Diffstat (limited to 'apps/commander/state_machine_helper.c')
| -rw-r--r-- | apps/commander/state_machine_helper.c | 21 |
1 files changed, 18 insertions, 3 deletions
diff --git a/apps/commander/state_machine_helper.c b/apps/commander/state_machine_helper.c index a8cef8c01..f30fd975b 100644 --- a/apps/commander/state_machine_helper.c +++ b/apps/commander/state_machine_helper.c @@ -520,9 +520,24 @@ void update_state_machine_mode_manual(int status_pub, struct vehicle_status_s *c current_status->flight_mode = VEHICLE_FLIGHT_MODE_MANUAL; current_status->flag_control_manual_enabled = true; - /* enable attitude control per default */ - current_status->flag_control_attitude_enabled = true; - current_status->flag_control_rates_enabled = true; + + /* set behaviour based on airframe */ + if ((current_status.system_type == MAV_TYPE_QUADROTOR) || + (current_status.system_type == MAV_TYPE_HEXAROTOR) || + (current_status.system_type == MAV_TYPE_OCTOROTOR)) { + + /* assuming a rotary wing, set to SAS */ + current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; + current_status.flag_control_attitude_enabled = true; + current_status.flag_control_rates_enabled = true; + } else { + + /* assuming a fixed wing, set to direct pass-through */ + current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_DIRECT; + current_status.flag_control_attitude_enabled = false; + current_status.flag_control_rates_enabled = false; + } + if (old_mode != current_status->flight_mode) state_machine_publish(status_pub, current_status, mavlink_fd); if (current_status->state_machine == SYSTEM_STATE_GROUND_READY || current_status->state_machine == SYSTEM_STATE_STABILIZED || current_status->state_machine == SYSTEM_STATE_AUTO) { |