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Sub: Add solo shot message fixes

This commit is contained in:
Rustom Jehangir 2016-02-10 16:26:43 -08:00 committed by Andrew Tridgell
parent 1d627a23ed
commit 59926f99b9
1 changed files with 8 additions and 6 deletions
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14
ArduSub/GCS_Mavlink.cpp
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@ -1173,7 +1173,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
roi_loc.lat = packet.x;
roi_loc.lng = packet.y;
roi_loc.alt = (int32_t)(packet.z * 100.0f);
copter.set_auto_yaw_roi(roi_loc);
sub.set_auto_yaw_roi(roi_loc);
result = MAV_RESULT_ACCEPTED;
break;
}
@ -1724,11 +1724,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
// check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_GLOBAL_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
break;
}
if (packet.coordinate_frame != MAV_FRAME_GLOBAL_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT && // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
break;
}
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
@ -1749,6 +1750,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
loc.lng = packet.lon_int;
loc.alt = packet.alt*100;
switch (packet.coordinate_frame) {
case MAV_FRAME_GLOBAL_RELATIVE_ALT: // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT:
loc.flags.relative_alt = true;
loc.flags.terrain_alt = false;