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Plane: MAV_CMD_GUIDED_CHANGE_HEADING: allow changing heading type or rate for same heading

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Iampete1 2023-09-29 02:52:46 +01:00 committed by Andrew Tridgell
parent e9fbf6db24
commit 73db3c3823
1 changed files with 0 additions and 5 deletions
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ArduPlane/GCS_Mavlink.cpp
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@ -919,11 +919,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands(const mavl
float new_target_heading = radians(wrap_180(packet.param2));
// if packet is requesting us to go to the heading we are already going to, we-re already on it.
if ( (is_equal(new_target_heading,plane.guided_state.target_heading))) { // compare two floats as near-enough
return MAV_RESULT_ACCEPTED;
}
// course over ground
if ( int(packet.param1) == HEADING_TYPE_COURSE_OVER_GROUND) { // compare as nearest int
plane.guided_state.target_heading_type = GUIDED_HEADING_COG;