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Added support for offboard velocity control & fixed position control flags

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t0ni0
2014-06-03 23:38:18 -04:00
parent ce1251fcc8
commit e12d3af503
1 changed files with 15 additions and 7 deletions
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22
src/modules/commander/commander.cpp
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@@ -1809,12 +1809,12 @@ set_control_mode()
control_mode.flag_control_offboard_enabled = true;
switch (sp_offboard.mode) {
case OFFBOARD_CONTROL_MODE_DIRECT_POSITION:
control_mode.flag_control_rates_enabled = false;
case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
@@ -1825,13 +1825,21 @@ set_control_mode()
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
case OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = false;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = false;
control_mode.flag_control_climb_rate_enabled = false;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = false;
control_mode.flag_control_velocity_enabled = false;
control_mode.flag_control_velocity_enabled = true;
break;
case OFFBOARD_CONTROL_MODE_DIRECT_POSITION:
control_mode.flag_control_rates_enabled = true;
control_mode.flag_control_attitude_enabled = true;
control_mode.flag_control_altitude_enabled = true;
control_mode.flag_control_climb_rate_enabled = true;
control_mode.flag_control_position_enabled = true;
control_mode.flag_control_velocity_enabled = true;
break;
default:
control_mode.flag_control_rates_enabled = false;