From 17366c4b0d2bbcb3d0705bac1a7e4bc737e0bf40 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Wed, 17 Jul 2013 22:22:51 +0400 Subject: [PATCH] multirotor_pos_control: fixes for AUTO mode, minor cleanup --- src/modules/multirotor_pos_control/multirotor_pos_control.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 4bae7efa4a..e5a3f3e548 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -333,21 +333,21 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) local_pos_sp.z = local_pos.home_alt - global_pos_sp.altitude; } - warnx("new setpoint: lat = %.10f, lon = %.10f, x = %.2f, y = %.2f", sp_lat, sp_lon, local_pos_sp.x, local_pos_sp.y); + warnx("new setpoint: lat = %.10f, lon = %.10f, x = %.2f, y = %.2f", sp_lat, sp_lon, local_pos_sp.x, local_pos_sp.y); mavlink_log_info(mavlink_fd, "new setpoint: %.7f, %.7f, %.2f, %.2f", sp_lat, sp_lon, local_pos_sp.x, local_pos_sp.y); /* publish local position setpoint as projection of global position setpoint */ orb_publish(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_pub, &local_pos_sp); } } - if (reset_sp_alt) { + if (status.flag_control_manual_enabled && reset_sp_alt) { reset_sp_alt = false; local_pos_sp.z = local_pos.z; z_vel_pid.integral = -manual.throttle; // thrust PID uses Z downside mavlink_log_info(mavlink_fd, "reset alt setpoint: z = %.2f, throttle = %.2f", local_pos_sp.z, manual.throttle); } - if (status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_SIMPLE && reset_sp_pos) { + if (status.flag_control_manual_enabled && status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_SIMPLE && reset_sp_pos) { reset_sp_pos = false; local_pos_sp.x = local_pos.x; local_pos_sp.y = local_pos.y;