From 6cf890b46b5a112ed20b3f8ed7be7b658d5c4a8c Mon Sep 17 00:00:00 2001 From: andre-nguyen Date: Sat, 14 Jun 2014 15:27:07 -0400 Subject: [PATCH] indentation and fix commander flags. It's impossible to control position at the same time as attitude so we have to disable some things. My logic is that all the control flags for position control should be opposite of the attitude control mode. --- src/modules/commander/commander.cpp | 4 ++-- src/modules/mc_pos_control/mc_pos_control_main.cpp | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 3da43a7929..2c36b2e6c3 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1834,8 +1834,8 @@ set_control_mode() 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_rates_enabled = false; + control_mode.flag_control_attitude_enabled = false; control_mode.flag_control_altitude_enabled = true; control_mode.flag_control_climb_rate_enabled = true; control_mode.flag_control_position_enabled = true; diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 9d9d2a7c00..6721d017d5 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -679,12 +679,12 @@ MulticopterPositionControl::task_main() /* Make sure position control is selected i.e. not only velocity control */ if (_control_mode.flag_control_position_enabled) { - _pos_sp(0) = _local_pos_sp.x; - _pos_sp(1) = _local_pos_sp.y; + _pos_sp(0) = _local_pos_sp.x; + _pos_sp(1) = _local_pos_sp.y; } if (_control_mode.flag_control_altitude_enabled) { - _pos_sp(2) = _local_pos_sp.z; + _pos_sp(2) = _local_pos_sp.z; } _att_sp.yaw_body = _local_pos_sp.yaw;