Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: minor comment fix to set-position-target handling

Browse Source
This commit is contained in:
Randy Mackay 2019-02-08 09:28:23 +09:00
parent 9707a7386c
commit d50a94aacf
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
APMrover2/GCS_Mavlink.cpp
View File

@ -938,13 +938,13 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
// consume velocity and turn rate // consume velocity and turn rate
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, speed_dir * target_speed); rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, speed_dir * target_speed);
} else if (pos_ignore && !vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) { } else if (pos_ignore && !vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
// consume velocity // consume velocity and heading
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed); rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
} else if (pos_ignore && vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) { } else if (pos_ignore && vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
// consume just target heading (probably only skid steering vehicles can do this) // consume just target heading (probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, 0.0f); rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, 0.0f);
} else if (pos_ignore && vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) { } else if (pos_ignore && vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
// consume just turn rate(probably only skid steering vehicles can do this) // consume just turn rate (probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f); rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f);
} }
break; break;