From 7c438c23234678a55415b9d96656be97cb4187f9 Mon Sep 17 00:00:00 2001
From: dave <david.st-onge@polymtl.ca>
Date: Wed, 3 Oct 2018 21:43:11 -0400
Subject: [PATCH 1/2] removed the need for setmode with m100 adapter

---
 src/roscontroller.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index fbcc069..e401299 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -165,7 +165,7 @@ void roscontroller::RosControllerRun()
       flight_controller_service_call();
       // Broadcast local position to FCU
       if(BClpose)
-	SetLocalPosition(goto_pos[0], goto_pos[1], goto_pos[2], goto_pos[3]);
+	      SetLocalPosition(goto_pos[0], goto_pos[1], goto_pos[2], goto_pos[3]);
       //  Set ROBOTS variable (swarm size)
       get_number_of_robots();
       buzz_utility::set_robot_var(no_of_robots);
@@ -762,7 +762,6 @@ script
         Arm();
         // Registering HOME POINT.
         home = cur_pos;
-	BClpose = true;
       }
       if (current_mode != "GUIDED" && setmode)
         SetMode("GUIDED", 2000);  // added for compatibility with 3DR Solo
@@ -792,7 +791,6 @@ script
       {
         armstate = 0;
         Arm();
-	BClpose = false;
       }
       if (mav_client.call(cmd_srv))
       {

From 0d2304116092196feca6320e38527089a987be88 Mon Sep 17 00:00:00 2001
From: vivek-shankar <vivek-shankar.varadharajan@polymtl.ca>
Date: Thu, 4 Oct 2018 16:06:45 -0400
Subject: [PATCH 2/2] Local setpoint fix for the solos.

---
 src/roscontroller.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index e401299..c27bd31 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -164,7 +164,7 @@ void roscontroller::RosControllerRun()
       // Call the flight controler service
       flight_controller_service_call();
       // Broadcast local position to FCU
-      if(BClpose)
+      if(BClpose && !setmode)
 	      SetLocalPosition(goto_pos[0], goto_pos[1], goto_pos[2], goto_pos[3]);
       //  Set ROBOTS variable (swarm size)
       get_number_of_robots();
@@ -838,6 +838,8 @@ script
 
     case NAV_SPLINE_WAYPOINT:
       goto_pos = buzzuav_closures::getgoto();
+      if(setmode) 
+        SetLocalPosition(goto_pos[0], goto_pos[1], goto_pos[2], goto_pos[3]);
       break;
 
     case DO_MOUNT_CONTROL: