diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index cc68c4e36..fc9560e18 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1951,6 +1951,15 @@ set_control_mode() control_mode.flag_control_position_enabled = false; control_mode.flag_control_velocity_enabled = false; break; + case OFFBOARD_CONTROL_MODE_DIRECT_FORCE: + control_mode.flag_control_rates_enabled = true; + control_mode.flag_control_attitude_enabled = false; + control_mode.flag_control_force_enabled = true; + control_mode.flag_control_altitude_enabled = false; + control_mode.flag_control_climb_rate_enabled = false; + control_mode.flag_control_position_enabled = false; + control_mode.flag_control_velocity_enabled = false; + break; case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED: case OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED: case OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED: |