From 6a225865cee7876afe6b89e7c759cefa26bf808c Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 14 Oct 2014 11:26:08 +0900 Subject: [PATCH] Copter: accept velocity requests in Auto-Guided mode --- ArduCopter/GCS_Mavlink.pde | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde index d7d80f63d8..419e22e0ee 100644 --- a/ArduCopter/GCS_Mavlink.pde +++ b/ArduCopter/GCS_Mavlink.pde @@ -1294,8 +1294,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } - // exit if vehicle is not in guided mode - if (control_mode != GUIDED) { + // exit if vehicle is not in Guided mode or Auto-Guided mode + if ((control_mode != GUIDED) && !(control_mode == AUTO && auto_mode == Auto_NavGuided)) { break; } @@ -1316,8 +1316,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg) break; } - // exit if vehicle is not in guided mode - if (control_mode != GUIDED) { + // exit if vehicle is not in Guided mode or Auto-Guided mode + if ((control_mode != GUIDED) && !(control_mode == AUTO && auto_mode == Auto_NavGuided)) { break; }