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px4-firmware
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fix flag_external_manual_override_ok 

The flag should not depend on the vtol state anymore. The intended
functionality of this is by now handled via the is_rotary_wing flag
This commit is contained in:
Thomas Gubler 2014-12-18 14:59:52 +01:00
parent e18065081a
commit 32675ff1c1
1 changed files with 1 additions and 2 deletions
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3
src/modules/commander/commander.cpp
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@ -1096,7 +1096,6 @@ int commander_thread_main(int argc, char *argv[])
status.is_vtol = (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR) ||
(status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR);
/* check and update system / component ID */
param_get(_param_system_id, &(status.system_id));
param_get(_param_component_id, &(status.component_id));
@ -2226,7 +2225,7 @@ set_control_mode()
{
/* set vehicle_control_mode according to set_navigation_state */
control_mode.flag_armed = armed.armed;
control_mode.flag_external_manual_override_ok = !status.is_rotary_wing && !status.is_vtol;
control_mode.flag_external_manual_override_ok = !status.is_rotary_wing;
control_mode.flag_system_hil_enabled = status.hil_state == HIL_STATE_ON;
control_mode.flag_control_offboard_enabled = false;