Make drone loiter when offboard control messages stop coming.

Mayankm96 · May 2, 2017 · d48889c · d48889c
1 parent 7715ff8
commit d48889c
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/MavLinkCom/src/impl/MavLinkVehicleImpl.cpp b/MavLinkCom/src/impl/MavLinkVehicleImpl.cpp
@@ -545,8 +545,13 @@ void MavLinkVehicleImpl::requestControl()
     // (which is not the default behavior for px4, so we set that here)
     MavLinkParameter p;
     p.name = "COM_OBL_ACT";
-    p.value = 1; // loiter (see px4 state_machine_helper.cpp, line 904)
+    p.value = 1; // loiter (see px4 state_machine_helper.cpp, line 904-ish)
     setParameter(p);
+
+    p.name = "COM_OBL_RC_ACT";
+    p.value = 5; // loiter (see px4 state_machine_helper.cpp, line 878-ish)
+    setParameter(p);
+
 }
 
 // return true if user calls requestControl and has not called releaseControl.