Merge branch 'offboard2' of https://github.com/elikos/Firmware into offboard2

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_rates_enabled = false;
-				control_mode.flag_control_attitude_enabled = true;
+				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;

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -681,12 +681,12 @@ 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(0) = _local_pos_sp.x;
-				_pos_sp(1) = _local_pos_sp.y;
+					_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;