From 7972a56076058331e43a8a1e06c3b2c87e833bce Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 31 Dec 2012 00:41:11 +0100 Subject: State machine / switching improvements --- apps/commander/commander.c | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) (limited to 'apps/commander/commander.c') diff --git a/apps/commander/commander.c b/apps/commander/commander.c index f47e48191..3ad90c029 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1778,20 +1778,16 @@ int commander_thread_main(int argc, char *argv[]) } else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) { /* check auto mode switch for correct mode */ if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) { - /* enable stabilized mode */ - update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); + /* enable guided mode */ + update_state_machine_mode_guided(stat_pub, ¤t_status, mavlink_fd); } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) { update_state_machine_mode_auto(stat_pub, ¤t_status, mavlink_fd); - } else { - update_state_machine_mode_hold(stat_pub, ¤t_status, mavlink_fd); } } else { /* center stick position, set SAS for all vehicle types */ - current_status.manual_control_mode = VEHICLE_MANUAL_CONTROL_MODE_SAS; - current_status.flag_control_attitude_enabled = true; - current_status.flag_control_rates_enabled = true; + update_state_machine_mode_stabilized(stat_pub, ¤t_status, mavlink_fd); } /* handle the case where RC signal was regained */ -- cgit v1.2.3