From 77097b6adc70afbe7e5d8ff9797ed3413e96dbf6 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sat, 11 May 2019 11:38:46 +0300
Subject: [PATCH] commander: update commander status when offboard control mode
changed
---
src/modules/commander/Commander.cpp | 11 +++++++++++
1 file changed, 11 insertions(+)
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index ea88665352..0ac7f80ded 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1511,7 +1511,18 @@ Commander::run()
orb_check(offboard_control_mode_sub, &updated);
if (updated) {
+ offboard_control_mode_s old = offboard_control_mode;
orb_copy(ORB_ID(offboard_control_mode), offboard_control_mode_sub, &offboard_control_mode);
+
+ if (old.ignore_thrust != offboard_control_mode.ignore_thrust ||
+ old.ignore_attitude != offboard_control_mode.ignore_attitude ||
+ old.ignore_bodyrate != offboard_control_mode.ignore_bodyrate ||
+ old.ignore_position != offboard_control_mode.ignore_position ||
+ old.ignore_velocity != offboard_control_mode.ignore_velocity ||
+ old.ignore_acceleration_force != offboard_control_mode.ignore_acceleration_force ||
+ old.ignore_alt_hold != offboard_control_mode.ignore_alt_hold) {
+ status_changed = true;
+ }
}
if (offboard_control_mode.timestamp != 0 &&
--
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