From 88d200e3a471716a8b3e98a3c28131ff18191ad6 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Fri, 3 Jul 2015 14:36:55 +0200 Subject: [PATCH] set altitude control flag for velocity control --- src/modules/commander/commander.cpp | 3 ++- src/platforms/ros/nodes/commander/commander.cpp | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 5ac8e9ca8b..6c0f1da8cb 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -2637,7 +2637,8 @@ set_control_mode() control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position; - control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_position; + control_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_velocity || + !offboard_control_mode.ignore_position; break; diff --git a/src/platforms/ros/nodes/commander/commander.cpp b/src/platforms/ros/nodes/commander/commander.cpp index abaa6fc60d..54086cfd4b 100644 --- a/src/platforms/ros/nodes/commander/commander.cpp +++ b/src/platforms/ros/nodes/commander/commander.cpp @@ -135,7 +135,8 @@ void Commander::SetOffboardControl(const px4::offboard_control_mode &msg_offboar msg_vehicle_control_mode.flag_control_position_enabled = !msg_offboard_control_mode.ignore_position; - msg_vehicle_control_mode.flag_control_altitude_enabled = !msg_offboard_control_mode.ignore_position; + msg_vehicle_control_mode.flag_control_altitude_enabled = !msg_offboard_control_mode.ignore_velocity || + !msg_offboard_control_mode.ignore_position; } void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg,