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Plane: whitespace formatting

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This commit is contained in:
Tom Pittenger 2016-06-07 08:27:40 -07:00
parent 429e348824
commit bd270720da
1 changed files with 6 additions and 5 deletions
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11
ArduPlane/GCS_Mavlink.cpp
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@ -2112,21 +2112,22 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
{
//Only want to allow companion computer position control when
// Only want to allow companion computer position control when
// in a certain mode to avoid inadvertently sending these
// kinds of commands when the autopilot is responding to problems
// in modes such as RTL, CIRCLE, etc. Specifying ONLY one mode
// for companion computer control is more safe (provided
// one uses the FENCE_ACTION = 4 (RTL) for geofence failures).
if (plane.control_mode != GUIDED) { //don't screw up failsafes
if (plane.control_mode != GUIDED) {
//don't screw up failsafes
break;
}
mavlink_set_position_target_global_int_t pos_target;
mavlink_msg_set_position_target_global_int_decode(msg, &pos_target);
//Unexepectedly, the mask is expecting "ones" for dimensions that should
//be IGNORNED rather than INCLUDED. See mavlink documentation of the
//SET_POSITION_TARGET_GLOBAL_INT message, type_mask field.
// Unexpectedly, the mask is expecting "ones" for dimensions that should
// be IGNORNED rather than INCLUDED. See mavlink documentation of the
// SET_POSITION_TARGET_GLOBAL_INT message, type_mask field.
const uint16_t alt_mask = 0b1111111111111011; // (z mask at bit 3)
bool msg_valid = true;