[DEBUG][aerial_robot_control] set XyControlMode=POS_CONTROL_MODE in l…

…anding and halt
jsk-ros-pkg · Aug 4, 2023 · 6b211a2 · 6b211a2
1 parent 1c1bc32
commit 6b211a2
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/aerial_robot_control/include/aerial_robot_control/flight_navigation.h b/aerial_robot_control/include/aerial_robot_control/flight_navigation.h
@@ -404,6 +404,7 @@ namespace aerial_robot_navigation
       if(!teleop_flag_) return;
 
       setNaviState(LAND_STATE);
+      setXyControlMode(POS_CONTROL_MODE);
 
       setTargetXyFromCurrentState();
       setTargetYawFromCurrentState();
@@ -418,6 +419,7 @@ namespace aerial_robot_navigation
       force_landing_flag_ = true;
 
       setNaviState(STOP_STATE);
+      setXyControlMode(POS_CONTROL_MODE);
       setTargetXyFromCurrentState();
       setTargetYawFromCurrentState();
       setTargetPosZ(estimator_->getLandingHeight());