diff options
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 16 |
1 files changed, 15 insertions, 1 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index ca5735509..7285e243e 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1463,11 +1463,11 @@ Navigator::publish_control_mode() _control_mode.flag_external_manual_override_ok = !_vstatus.is_rotary_wing; _control_mode.flag_system_hil_enabled = _vstatus.hil_state == HIL_STATE_ON; - _control_mode.flag_control_offboard_enabled = false; _control_mode.flag_control_flighttermination_enabled = false; switch (_vstatus.main_state) { case MAIN_STATE_MANUAL: + _control_mode.flag_control_offboard_enabled = false; _control_mode.flag_control_manual_enabled = true; _control_mode.flag_control_rates_enabled = _vstatus.is_rotary_wing; _control_mode.flag_control_attitude_enabled = _vstatus.is_rotary_wing; @@ -1478,6 +1478,7 @@ Navigator::publish_control_mode() break; case MAIN_STATE_SEATBELT: + _control_mode.flag_control_offboard_enabled = false; _control_mode.flag_control_manual_enabled = true; _control_mode.flag_control_rates_enabled = true; _control_mode.flag_control_attitude_enabled = true; @@ -1488,6 +1489,7 @@ Navigator::publish_control_mode() break; case MAIN_STATE_EASY: + _control_mode.flag_control_offboard_enabled = false; _control_mode.flag_control_manual_enabled = true; _control_mode.flag_control_rates_enabled = true; _control_mode.flag_control_attitude_enabled = true; @@ -1498,6 +1500,7 @@ Navigator::publish_control_mode() break; case MAIN_STATE_AUTO: + _control_mode.flag_control_offboard_enabled = false; _control_mode.flag_control_manual_enabled = false; if (myState == NAV_STATE_READY) { /* disable all controllers, armed but idle */ @@ -1517,6 +1520,17 @@ Navigator::publish_control_mode() } break; + case MAIN_STATE_OFFBOARD: + _control_mode.flag_control_offboard_enabled = true; + _control_mode.flag_control_manual_enabled = false; + _control_mode.flag_control_rates_enabled = false; + _control_mode.flag_control_attitude_enabled = false; + _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; + default: break; } |