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vehicle_control_mode.flag_armed added, reset integrals in multirotor_att_control when disarmed

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Anton Babushkin
2013-08-19 08:43:16 +02:00
parent ffc2a8b7a3
commit 3370ceceaf
7 changed files with 29 additions and 29 deletions
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3
src/modules/commander/commander.cpp
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@@ -1235,8 +1235,9 @@ int commander_thread_main(int argc, char *argv[])
}
/* publish control mode */
if (navigation_state_changed) {
if (navigation_state_changed || arming_state_changed) {
/* publish new navigation state */
control_mode.flag_armed = armed.armed; // copy armed state to vehicle_control_mode topic
control_mode.counter++;
control_mode.timestamp = t1;
orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode);