From 6dead1d576b91811ba4bcd988ed4f4151eacafcc Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 29 Jan 2015 14:09:25 +0100 Subject: commander dummy node: set control velocity enabled flag --- src/platforms/ros/nodes/commander/commander.cpp | 3 +++ 1 file changed, 3 insertions(+) (limited to 'src/platforms/ros/nodes/commander/commander.cpp') 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; } -- cgit v1.2.3