From 1e058045f796baee9013dac4d6e57e5d889166ca Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 25 May 2018 15:06:51 +0900 Subject: [PATCH] Rover: guided mode more forgiving of set-position-targets type_mask field 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. --- APMrover2/GCS_Mavlink.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp index 5c12dba638..d5dc0b194b 100644 --- a/APMrover2/GCS_Mavlink.cpp +++ b/APMrover2/GCS_Mavlink.cpp @@ -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) {