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Commit d7ae91c5 authored by Thomas Gubler's avatar Thomas Gubler
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updated goAutonomous, goManual and toggleAutonomy

parent f50c15f1
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Showing with 3 additions and 3 deletions
src/uas/UAS.cc
View file @ d7ae91c5
...@@ -2763,17 +2763,17 @@ void UAS::toggleArmedState() ...@@ -2763,17 +2763,17 @@ void UAS::toggleArmedState()
void UAS::goAutonomous() 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() 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() 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);
} }
/** /**
......
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