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Copter: only accept attitude targets in Guided mode

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This commit is contained in:
Randy Mackay 2016-08-01 17:43:15 +09:00
parent 1161417d7f
commit 4e92f08bf1
1 changed files with 5 additions and 0 deletions
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ArduCopter/GCS_Mavlink.cpp
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@ -1663,6 +1663,11 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
mavlink_set_attitude_target_t packet;
mavlink_msg_set_attitude_target_decode(msg, &packet);
// exit if vehicle is not in Guided mode or Auto-Guided mode
if ((copter.control_mode != GUIDED) && (copter.control_mode != GUIDED_NOGPS) && !(copter.control_mode == AUTO && copter.auto_mode == Auto_NavGuided)) {
break;
}
// ensure type_mask specifies to use attitude and thrust
if ((packet.type_mask & ((1<<7)|(1<<6))) != 0) {
break;