Merge pull request PX4#2258 from tumbili/VTOL_fix

do not run fw attitude controller when in rotary wing mode (VTOL)
TheIronBorn · Jun 4, 2015 · b9e8fd5 · b9e8fd5
2 parents 9ce7fe4 + 134c7d8
commit b9e8fd5
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -796,6 +796,11 @@ FixedwingAttitudeControl::task_main()
 				//warnx("_actuators_airframe.control[1] = -1.0f;");
 			}
 
+			/* if we are in rotary wing mode, do nothing */
+			if (_vehicle_status.is_rotary_wing) {
+				continue;
+			}
+
 			/* decide if in stabilized or full manual control */
 
 			if (_vcontrol_mode.flag_control_attitude_enabled) {