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Copter: stop sending POSITION_TARGET_LOCAL_NED in guided-angle mode 

The values we were sending through were not relevant
This commit is contained in:
Peter Barker 2021-04-13 16:12:57 +10:00 committed by Randy Mackay
parent 5df8dd8c50
commit ff072c5215
1 changed files with 12 additions and 4 deletions
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16
ArduCopter/GCS_Mavlink.cpp
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@ -130,18 +130,26 @@ void GCS_MAVLINK_Copter::send_position_target_local_ned()
const ModeGuided::SubMode guided_mode = copter.mode_guided.submode();
Vector3f target_pos;
Vector3f target_vel;
uint16_t type_mask;
uint16_t type_mask = 0;
if (guided_mode == ModeGuided::SubMode::WP) {
switch (guided_mode) {
case ModeGuided::SubMode::Angle:
// we don't have a local target when in angle mode
return;
case ModeGuided::SubMode::WP:
type_mask = 0x0FF8; // ignore everything except position
target_pos = copter.wp_nav->get_wp_destination() * 0.01f; // convert to metres
} else if (guided_mode == ModeGuided::SubMode::Velocity) {
break;
case ModeGuided::SubMode::Velocity:
type_mask = 0x0FC7; // ignore everything except velocity
target_vel = copter.flightmode->get_desired_velocity() * 0.01f; // convert to m/s
} else {
break;
case ModeGuided::SubMode::TakeOff:
case ModeGuided::SubMode::PosVel:
type_mask = 0x0FC0; // ignore everything except position & velocity
target_pos = copter.wp_nav->get_wp_destination() * 0.01f;
target_vel = copter.flightmode->get_desired_velocity() * 0.01f;
break;
}
mavlink_msg_position_target_local_ned_send(