From d7ae91c59433f32c0cb4fec5ab24638758eb8473 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 6 Dec 2013 11:38:34 +0100 Subject: [PATCH] updated goAutonomous, goManual and toggleAutonomy --- src/uas/UAS.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index 434111f16..553843588 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -2763,17 +2763,17 @@ void UAS::toggleArmedState() void UAS::goAutonomous() { - setMode(base_mode | MAV_MODE_FLAG_AUTO_ENABLED, custom_mode); + setMode((base_mode & ~MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) | (MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED), 0); } void UAS::goManual() { - setMode(base_mode | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, custom_mode); + setMode((base_mode & ~(MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED)) | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, 0); } void UAS::toggleAutonomy() { - setMode(base_mode ^ MAV_MODE_FLAG_AUTO_ENABLED ^ MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, custom_mode); + setMode(base_mode ^ MAV_MODE_FLAG_AUTO_ENABLED ^ MAV_MODE_FLAG_MANUAL_INPUT_ENABLED ^ MAV_MODE_FLAG_GUIDED_ENABLED ^ MAV_MODE_FLAG_STABILIZE_ENABLED, 0); } /** -- 2.22.0