update ocm reference

ntnu-arl · Feb 5, 2025 · aa96939 · aa96939
1 parent 312db7f
commit aa96939
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/src/modules/mc_safe_control/MulticopterSafeControl.cpp b/src/modules/mc_safe_control/MulticopterSafeControl.cpp
@@ -344,9 +344,8 @@ void MulticopterSafeControl::Run()
     ocm.acceleration = false;
     ocm.attitude = true;
     ocm.body_rate = false;
-    ocm.actuator = false;
-    // ocm.thrust_and_torque = true;
-    // ocm.direct_actuator = false;
+    ocm.thrust_and_torque = false;
+    ocm.direct_actuator = false;
     ocm.timestamp = hrt_absolute_time();
     _offboard_control_mode_pub.publish(ocm);