diff options
Diffstat (limited to 'src/platforms/ros/nodes/commander/commander.cpp')
| -rw-r--r-- | src/platforms/ros/nodes/commander/commander.cpp | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/platforms/ros/nodes/commander/commander.cpp b/src/platforms/ros/nodes/commander/commander.cpp index fee32b55f..3829cbc32 100644 --- a/src/platforms/ros/nodes/commander/commander.cpp +++ b/src/platforms/ros/nodes/commander/commander.cpp @@ -119,6 +119,7 @@ void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg, msg_vehicle_control_mode.flag_control_altitude_enabled = false; msg_vehicle_control_mode.flag_control_climb_rate_enabled = false; msg_vehicle_control_mode.flag_control_position_enabled = false; + msg_vehicle_control_mode.flag_control_velocity_enabled = false; break; @@ -132,6 +133,7 @@ void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg, msg_vehicle_control_mode.flag_control_altitude_enabled = true; msg_vehicle_control_mode.flag_control_climb_rate_enabled = true; msg_vehicle_control_mode.flag_control_position_enabled = true; + msg_vehicle_control_mode.flag_control_velocity_enabled = true; } else { msg_vehicle_status.main_state = msg_vehicle_status.MAIN_STATE_ALTCTL; msg_vehicle_status.nav_state = msg_vehicle_status.NAVIGATION_STATE_ALTCTL; @@ -141,6 +143,7 @@ void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg, msg_vehicle_control_mode.flag_control_altitude_enabled = true; msg_vehicle_control_mode.flag_control_climb_rate_enabled = true; msg_vehicle_control_mode.flag_control_position_enabled = false; + msg_vehicle_control_mode.flag_control_velocity_enabled = false; } break; } |