From d4edf2e85c4238387872eb5ee6bc1187117a280d Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Sun, 23 Dec 2012 17:20:53 -0800 Subject: Override is now really disabled for multirotors, also I don't think the parameter got ever read by the commander but I might be wrong --- apps/commander/commander.c | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) (limited to 'apps/commander/commander.c') diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 5dfdf83ad..bdf1976b7 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1293,6 +1293,8 @@ int commander_thread_main(int argc, char *argv[]) uint64_t failsave_ll_start_time = 0; bool state_changed = true; + bool param_init_forced = true; + while (!thread_should_exit) { @@ -1323,10 +1325,10 @@ int commander_thread_main(int argc, char *argv[]) /* handle it */ handle_command(stat_pub, ¤t_status, &cmd); } - /* update parameters */ orb_check(param_changed_sub, &new_data); - if (new_data) { + if (new_data || param_init_forced) { + param_init_forced = false; /* parameters changed */ orb_copy(ORB_ID(parameter_update), param_changed_sub, ¶m_changed); @@ -1335,7 +1337,6 @@ int commander_thread_main(int argc, char *argv[]) if (param_get(_param_sys_type, &(current_status.system_type)) != OK) { warnx("failed setting new system type"); } - /* disable manual override for all systems that rely on electronic stabilization */ if (current_status.system_type == MAV_TYPE_QUADROTOR || current_status.system_type == MAV_TYPE_HEXAROTOR || -- cgit v1.2.3