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Copter: GCS_Mavlink set_position_target_global_int() remove yaw_relative

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Josh Henderson 2021-09-13 03:06:12 -04:00 committed by Randy Mackay
parent e1fdab8423
commit 3d25eedeb2
1 changed files with 4 additions and 6 deletions
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10
ArduCopter/GCS_Mavlink.cpp
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@ -1243,11 +1243,9 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
// prepare yaw
float yaw_cd = 0.0f;
bool yaw_relative = false;
float yaw_rate_cds = 0.0f;
if (!yaw_ignore) {
yaw_cd = ToDeg(packet.yaw) * 100.0f;
yaw_relative = packet.coordinate_frame == MAV_FRAME_BODY_NED || packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED;
}
if (!yaw_rate_ignore) {
yaw_rate_cds = ToDeg(packet.yaw_rate) * 100.0f;
@ -1268,13 +1266,13 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
copter.mode_guided.init(true);
break;
}
copter.mode_guided.set_destination_posvel(pos_neu_cm, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
copter.mode_guided.set_destination_posvel(pos_neu_cm, vel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds);
} else if (pos_ignore && !vel_ignore) {
copter.mode_guided.set_velaccel(vel_vector, accel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
copter.mode_guided.set_velaccel(vel_vector, accel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds);
} else if (pos_ignore && vel_ignore && !acc_ignore) {
copter.mode_guided.set_accel(accel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
copter.mode_guided.set_accel(accel_vector, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds);
} else if (!pos_ignore && vel_ignore && acc_ignore) {
copter.mode_guided.set_destination(loc, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds, yaw_relative);
copter.mode_guided.set_destination(loc, !yaw_ignore, yaw_cd, !yaw_rate_ignore, yaw_rate_cds);
} else {
// input is not valid so stop
copter.mode_guided.init(true);