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MulticopterPositionControl: default cases with unsupported POS_MODE

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This commit is contained in:
Matthias Grob
2020-11-11 19:45:43 +01:00
parent 0b8f092d2b
commit e6338d8a2f
1 changed files with 10 additions and 8 deletions
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18
src/modules/mc_pos_control/MulticopterPositionControl.cpp
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@@ -589,6 +589,10 @@ void MulticopterPositionControl::start_flight_task()
FlightTaskError error = FlightTaskError::NoError;
switch (_param_mpc_pos_mode.get()) {
case 0:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualPosition);
break;
case 1:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualPositionSmooth);
break;
@@ -598,11 +602,8 @@ void MulticopterPositionControl::start_flight_task()
break;
case 4:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAcceleration);
break;
default:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualPosition);
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAcceleration);
break;
}
@@ -626,16 +627,17 @@ void MulticopterPositionControl::start_flight_task()
FlightTaskError error = FlightTaskError::NoError;
switch (_param_mpc_pos_mode.get()) {
case 0:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitude);
break;
case 1:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitudeSmooth);
break;
case 3:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitudeSmoothVel);
break;
default:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitude);
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitudeSmoothVel);
break;
}