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Rover: use MAVLink POSITION_TARGET_TYPEMASK

This commit is contained in:
Pierre Kancir 2021-03-16 18:28:38 +01:00 committed by Andrew Tridgell
parent 8a0230e6d5
commit 14d351c2fd
1 changed files with 5 additions and 1 deletions
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6
Rover/GCS_Mavlink.cpp
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@ -79,11 +79,15 @@ void GCS_MAVLINK_Rover::send_position_target_global_int()
if (!rover.control_mode->get_desired_location(target)) {
return;
}
static constexpr uint16_t POSITION_TARGET_TYPEMASK_LAST_BYTE = 0xF000;
static constexpr uint16_t TYPE_MASK = POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | POSITION_TARGET_TYPEMASK_VZ_IGNORE |
POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE |
POSITION_TARGET_TYPEMASK_FORCE_SET | POSITION_TARGET_TYPEMASK_YAW_IGNORE | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE | POSITION_TARGET_TYPEMASK_LAST_BYTE;
mavlink_msg_position_target_global_int_send(
chan,
AP_HAL::millis(), // time_boot_ms
MAV_FRAME_GLOBAL, // targets are always global altitude
0xFFF8, // ignore everything except the x/y/z components
TYPE_MASK, // ignore everything except the x/y/z components
target.lat, // latitude as 1e7
target.lng, // longitude as 1e7
target.alt * 0.01f, // altitude is sent as a float