From e15240d3ada672d49a52daf1032bc283397afb77 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@px4.io>
Date: Wed, 28 Feb 2018 15:50:22 +0100
Subject: [PATCH] FlightTask: only allow for position and alitude control
without smoothing. This commit is only done to enable incremental testing of
Flighttask.
---
src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 765100eb8a..7fb9de58b0 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -3161,11 +3161,11 @@ MulticopterPositionControl::task_main()
if (_test_flight_tasks.get()) {
switch (_vehicle_status.nav_state) {
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
- _flight_tasks.switchTask(FlightTaskIndex::AltitudeSmooth);
+ _flight_tasks.switchTask(FlightTaskIndex::Altitude);
break;
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
- _flight_tasks.switchTask(FlightTaskIndex::PositionSmooth);
+ _flight_tasks.switchTask(FlightTaskIndex::Position);
break;
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
--
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