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ArduCopter: guided force_set restriction only for accel commands

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Josh Henderson 2021-12-10 01:17:29 -05:00 committed by Randy Mackay
parent 1d4b13af08
commit 01583e96fa
1 changed files with 6 additions and 4 deletions
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10
ArduCopter/GCS_Mavlink.cpp
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@ -1160,8 +1160,9 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
bool force_set = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE_SET;
// force_set true, do not accept command
if (force_set) {
// Force inputs are not supported
// Do not accept command if force_set is true and acc_ignore is false
if (force_set && !acc_ignore) {
break;
}
@ -1254,8 +1255,9 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
bool force_set = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE_SET;
// force_set true, do not accept command
if (force_set) {
// Force inputs are not supported
// Do not accept command if force_set is true and acc_ignore is false
if (force_set && !acc_ignore) {
break;
}