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mc_pos_control: add Loiter/Hold mode to possible failsafe commands

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Matthias Grob
2019-01-13 13:33:15 +01:00
parent b018a6088d
commit a563092742
1 changed files with 5 additions and 0 deletions
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5
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -1306,6 +1306,11 @@ void MulticopterPositionControl::send_vehicle_cmd_do(uint8_t nav_state)
command.param2 = (float)PX4_CUSTOM_MAIN_MODE_ALTCTL;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
command.param2 = (float)PX4_CUSTOM_MAIN_MODE_AUTO;
command.param3 = (float)PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
break;
default: //vehicle_status_s::NAVIGATION_STATE_POSCTL
command.param2 = (float)PX4_CUSTOM_MAIN_MODE_POSCTL;
break;