From ca5834d08fc25f4f78cda7a7fb41260736165902 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Samuel=20Thor=C3=A9n?= <samuel.thoren@astazero.com>
Date: Thu, 5 Oct 2023 08:55:26 +0200
Subject: [PATCH] Params and test mode updated

---
 launch/launch_experimental.py            | 3 ++-
 modules/ObjectControl/src/testobject.cpp | 2 ++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/launch/launch_experimental.py b/launch/launch_experimental.py
index ca9228e4f..55c84b289 100644
--- a/launch/launch_experimental.py
+++ b/launch/launch_experimental.py
@@ -16,7 +16,8 @@ def get_experimental_nodes():
             package='atos',
             namespace='atos',
             executable='trajectorylet_streamer',
-            name='trajectorylet_streamer'
+            name='trajectorylet_streamer',
+            parameters=[files["params"]]
         ),
         Node(
             package='atos',
diff --git a/modules/ObjectControl/src/testobject.cpp b/modules/ObjectControl/src/testobject.cpp
index 6a365938b..d339566fc 100644
--- a/modules/ObjectControl/src/testobject.cpp
+++ b/modules/ObjectControl/src/testobject.cpp
@@ -265,6 +265,8 @@ void TestObject::sendHeartbeat(
 void TestObject::sendSettings() {
 
 	ObjectSettingsType objSettings;
+	objSettings.testMode = TEST_MODE_PREPLANNED;
+
 	objSettings.desiredID.transmitter = conf.getTransmitterID();
 	objSettings.desiredID.controlCentre = ::getTransmitterID();
 	objSettings.desiredID.subTransmitter = 0;