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AP_Mission: don't wrap when masking via HIGH/LOWBYTE

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This commit is contained in:
Tom Pittenger 2017-01-06 17:29:05 -08:00
parent dc3d10a28b
commit a81f5cefbe
1 changed files with 5 additions and 0 deletions
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libraries/AP_Mission/AP_Mission.cpp
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@ -537,6 +537,11 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
// acceptance radius in meters and pass by distance in meters
uint16_t acp = packet.param2; // param 2 is acceptance radius in meters is held in low p1
uint16_t passby = packet.param3; // param 3 is pass by distance in meters is held in high p1
// limit to 255 so it does not wrap during the shift or mask operation
passby = MIN(0xFF,passby);
acp = MIN(0xFF,acp);
cmd.p1 = (passby << 8) | (acp & 0x00FF);
#else
// delay at waypoint in seconds (this is for copters???)