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Rover: guided mode more forgiving of set-position-targets type_mask field

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accept position targets regardless of any other bit settings in type mask field.  This makes rover more forgiving of errors in the type_mask field.
This commit is contained in:
Randy Mackay 2018-05-25 15:06:51 +09:00
parent 98e87db274
commit 1e058045f7
1 changed files with 2 additions and 2 deletions
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4
APMrover2/GCS_Mavlink.cpp
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@ -962,7 +962,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
}
// set guided mode targets
if (!pos_ignore && vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
if (!pos_ignore) {
// consume position target
rover.mode_guided.set_desired_location(target_loc);
} else if (pos_ignore && !vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
@ -1064,7 +1064,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
}
// set guided mode targets
if (!pos_ignore && vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
if (!pos_ignore) {
// consume position target
rover.mode_guided.set_desired_location(target_loc);
} else if (pos_ignore && !vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {