From 134c7d87b8b4837a22e148cfb80a8d684755ef5d Mon Sep 17 00:00:00 2001 From: tumbili Date: Sat, 30 May 2015 15:39:37 +0200 Subject: [PATCH] do not run fw attitude controller when in rotary wing mode (VTOL) --- src/modules/fw_att_control/fw_att_control_main.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 4159ebaf2233..7ec5148ccc2d 100644 --- 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) {