1 files changed, 65 insertions, 37 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index ce1e52c1b..1b03e8c22 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -232,19 +232,9 @@ mc_thread_main(int argc, char *argv[])
 						/* STEP 2: publish the result to the vehicle actuators */
 						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
 					}
-					/* decide wether we want rate or position input */
-				}
-				else if (state.flag_control_manual_enabled) {
+					
 
-					/* manual inputs, from RC control or joystick */
-					if (state.flag_control_rates_enabled && !state.flag_control_attitude_enabled) {
-						rates_sp.roll = manual.roll;
-
-						rates_sp.pitch = manual.pitch;
-						rates_sp.yaw = manual.yaw;
-						rates_sp.thrust = manual.throttle;
-						rates_sp.timestamp = hrt_absolute_time();
-					}
+				} else if (state.flag_control_manual_enabled) {
 
 					if (state.flag_control_attitude_enabled) {
 
@@ -258,12 +248,25 @@ mc_thread_main(int argc, char *argv[])
 						static bool rc_loss_first_time = true;
 
 						/* if the RC signal is lost, try to stay level and go slowly back down to ground */
-						if(state.rc_signal_lost) {
+						if (state.rc_signal_lost) {
 							/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
 							param_get(failsafe_throttle_handle, &failsafe_throttle);
 							att_sp.roll_body = 0.0f;
 							att_sp.pitch_body = 0.0f;
-							att_sp.thrust = failsafe_throttle;
+
+							/*
+							 * Only go to failsafe throttle if last known throttle was
+							 * high enough to create some lift to make hovering state likely.
+							 * 
+							 * This is to prevent that someone landing, but not disarming his
+							 * multicopter (throttle = 0) does not make it jump up in the air
+							 * if shutting down his remote.
+							 */
+							if (isfinite(manual.throttle) && manual.throttle > 0.2f) {
+								att_sp.thrust = failsafe_throttle;
+							} else {
+								att_sp.thrust = 0.0f;
+							}
 
 							/* keep current yaw, do not attempt to go to north orientation,
 							 * since if the pilot regains RC control, he will be lost regarding
@@ -285,41 +288,66 @@ mc_thread_main(int argc, char *argv[])
 								att_sp.yaw_body = att.yaw;
 							}
 
-							/* only move setpoint if manual input is != 0 */
+							/* act if stabilization is active or if the (nonsense) direct pass through mode is set */
+							if (state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS ||
+								state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) {
 
-							if(manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_POS) {
-								if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
+								if (state.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_RATE) {
 									rates_sp.yaw = manual.yaw;
 									control_yaw_position = false;
-									first_time_after_yaw_speed_control = true;
 								} else {
-									if (first_time_after_yaw_speed_control) {
-										att_sp.yaw_body = att.yaw;
-										first_time_after_yaw_speed_control = false;
+									/*
+									 * This mode SHOULD be the default mode, which is:
+									 * VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS
+									 *
+									 * However, we fall back to this setting for all other (nonsense)
+									 * settings as well.
+									 */
+
+									/* only move setpoint if manual input is != 0 */
+									if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && manual.throttle > 0.3f) {
+										rates_sp.yaw = manual.yaw;
+										control_yaw_position = false;
+										first_time_after_yaw_speed_control = true;
+									} else {
+										if (first_time_after_yaw_speed_control) {
+											att_sp.yaw_body = att.yaw;
+											first_time_after_yaw_speed_control = false;
+										}
+										control_yaw_position = true;
 									}
-									control_yaw_position = true;
 								}
-							} else if (manual.mode == MANUAL_CONTROL_MODE_ATT_YAW_RATE) {
-								rates_sp.yaw = manual.yaw;
-								control_yaw_position = false;
 							}
 
 							att_sp.thrust = manual.throttle;
 							att_sp.timestamp = hrt_absolute_time();
 						}
-					}
-					/* STEP 2: publish the result to the vehicle actuators */
-					orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
-
-					if (motor_test_mode) {
-						printf("testmode");
-						att_sp.roll_body = 0.0f;
-						att_sp.pitch_body = 0.0f;
-						att_sp.yaw_body = 0.0f;
-						att_sp.thrust = 0.1f;
-						att_sp.timestamp = hrt_absolute_time();
-						/* STEP 2: publish the result to the vehicle actuators */
+
+						/* STEP 2: publish the controller output */
 						orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+
+						if (motor_test_mode) {
+							printf("testmode");
+							att_sp.roll_body = 0.0f;
+							att_sp.pitch_body = 0.0f;
+							att_sp.yaw_body = 0.0f;
+							att_sp.thrust = 0.1f;
+							att_sp.timestamp = hrt_absolute_time();
+							/* STEP 2: publish the result to the vehicle actuators */
+							orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
+						}
+
+					} else {
+						/* manual rate inputs, from RC control or joystick */
+						if (state.flag_control_rates_enabled &&
+							state.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_RATES) {
+							rates_sp.roll = manual.roll;
+
+							rates_sp.pitch = manual.pitch;
+							rates_sp.yaw = manual.yaw;
+							rates_sp.thrust = manual.throttle;
+							rates_sp.timestamp = hrt_absolute_time();
+						}
 					}
 
 				}