set altitude control flag for velocity control

10 years ago · 88d200e3a4
2 changed files with 4 additions and 2 deletions
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@ -2637,7 +2637,8 @@ set_control_mode()
				@@ -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;

--- 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
				@@ -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,