control_mode: add allocation to orbit mode to not crash

PX4 · Nov 23, 2023 · 6e31638 · 6e31638
1 parent a99a7d2
commit 6e31638
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/src/modules/commander/ModeUtil/control_mode.cpp b/src/modules/commander/ModeUtil/control_mode.cpp
@@ -168,12 +168,13 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
 	case vehicle_status_s::NAVIGATION_STATE_ORBIT:
 		vehicle_control_mode.flag_control_manual_enabled = false;
 		vehicle_control_mode.flag_control_auto_enabled = false;
-		vehicle_control_mode.flag_control_rates_enabled = true;
-		vehicle_control_mode.flag_control_attitude_enabled = true;
-		vehicle_control_mode.flag_control_altitude_enabled = true;
-		vehicle_control_mode.flag_control_climb_rate_enabled = true;
 		vehicle_control_mode.flag_control_position_enabled = true;
 		vehicle_control_mode.flag_control_velocity_enabled = true;
+		vehicle_control_mode.flag_control_altitude_enabled = true;
+		vehicle_control_mode.flag_control_climb_rate_enabled = true;
+		vehicle_control_mode.flag_control_attitude_enabled = true;
+		vehicle_control_mode.flag_control_rates_enabled = true;
+		vehicle_control_mode.flag_control_allocation_enabled = true;
 		break;
 
 	// vehicle_status_s::NAVIGATION_STATE_EXTERNALx: handled in ModeManagement