{"action":"created","comment":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/comments/25369358","id":25369358,"diff_hunk":"@@ -2452,6 +2453,14 @@ set_control_mode()\n \n \t\tcontrol_mode.flag_control_altitude_enabled = !offboard_control_mode.ignore_position;\n \n+\t\tcontrol_mode.flag_control_offboard_actuator_control_enabled =  offboard_control_mode.ignore_thrust   &&\n+\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t   offboard_control_mode.ignore_attitude &&\n+\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t   offboard_control_mode.ignore_bodyrate &&\n+\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t   offboard_control_mode.ignore_position &&\n+\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t   offboard_control_mode.ignore_velocity &&\n+\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t   offboard_control_mode.ignore_acceleration_force &&\n+\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t   offboard_control_mode.actuator_control_mode;\n+","path":"src/modules/commander/commander.cpp","position":null,"original_position":19,"commit_id":"891db4bee160d0512024c6ddce12632a4a55ad94","original_commit_id":"bbe0981f925c8c922a54670b4a4826fa2a435e55","user":{"login":"thomasgubler","id":1419479,"avatar_url":"https://avatars.githubusercontent.com/u/1419479?v=3","gravatar_id":"","url":"https://api.github.com/users/thomasgubler","html_url":"https://github.com/thomasgubler","followers_url":"https://api.github.com/users/thomasgubler/followers","following_url":"https://api.github.com/users/thomasgubler/following{/other_user}","gists_url":"https://api.github.com/users/thomasgubler/gists{/gist_id}","starred_url":"https://api.github.com/users/thomasgubler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/thomasgubler/subscriptions","organizations_url":"https://api.github.com/users/thomasgubler/orgs","repos_url":"https://api.github.com/users/thomasgubler/repos","events_url":"https://api.github.com/users/thomasgubler/events{/privacy}","received_events_url":"https://api.github.com/users/thomasgubler/received_events","type":"User","site_admin":false},"body":"can we maybe do the logic without the flag? E.g. if everything is ignored ...","created_at":"2015-02-25T19:17:57Z","updated_at":"2015-02-25T19:17:58Z","html_url":"https://github.com/PX4/Firmware/pull/1836#discussion_r25369358","pull_request_url":"https://api.github.com/repos/PX4/Firmware/pulls/1836","_links":{"self":{"href":"https://api.github.com/repos/PX4/Firmware/pulls/comments/25369358"},"html":{"href":"https://github.com/PX4/Firmware/pull/1836#discussion_r25369358"},"pull_request":{"href":"https://api.github.com/repos/PX4/Firmware/pulls/1836"}}},"pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/1836","id":29948759,"html_url":"https://github.com/PX4/Firmware/pull/1836","diff_url":"https://github.com/PX4/Firmware/pull/1836.diff","patch_url":"https://github.com/PX4/Firmware/pull/1836.patch","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/1836","number":1836,"state":"open","locked":false,"title":"Actuator control offboard mode","user":{"login":"matt-beall","id":6268295,"avatar_url":"https://avatars.githubusercontent.com/u/6268295?v=3","gravatar_id":"","url":"https://api.github.com/users/matt-beall","html_url":"https://github.com/matt-beall","followers_url":"https://api.github.com/users/matt-beall/followers","following_url":"https://api.github.com/users/matt-beall/following{/other_user}","gists_url":"https://api.github.com/users/matt-beall/gists{/gist_id}","starred_url":"https://api.github.com/users/matt-beall/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/matt-beall/subscriptions","organizations_url":"https://api.github.com/users/matt-beall/orgs","repos_url":"https://api.github.com/users/matt-beall/repos","events_url":"https://api.github.com/users/matt-beall/events{/privacy}","received_events_url":"https://api.github.com/users/matt-beall/received_events","type":"User","site_admin":false},"body":"I merged the offboardmode branch into mine and designed my work to comply to the offboardmode structure. I've tested to ensure that the offboard and failsafe behavior behave the same as before. This code also accomplishes my goal of being able to set raw actuator controls from mavlink. Please let me know if I've missed anything. 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