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Plane: whitespace formatting

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This commit is contained in:
Tom Pittenger 2016-06-07 08:27:40 -07:00
parent 429e348824
commit bd270720da
1 changed files with 6 additions and 5 deletions
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11
ArduPlane/GCS_Mavlink.cpp
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@ -2112,21 +2112,22 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT: case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
{ {
//Only want to allow companion computer position control when // Only want to allow companion computer position control when
// in a certain mode to avoid inadvertently sending these // in a certain mode to avoid inadvertently sending these
// kinds of commands when the autopilot is responding to problems // kinds of commands when the autopilot is responding to problems
// in modes such as RTL, CIRCLE, etc. Specifying ONLY one mode // in modes such as RTL, CIRCLE, etc. Specifying ONLY one mode
// for companion computer control is more safe (provided // for companion computer control is more safe (provided
// one uses the FENCE_ACTION = 4 (RTL) for geofence failures). // one uses the FENCE_ACTION = 4 (RTL) for geofence failures).
if (plane.control_mode != GUIDED) { //don't screw up failsafes if (plane.control_mode != GUIDED) {
//don't screw up failsafes
break; break;
} }
mavlink_set_position_target_global_int_t pos_target; mavlink_set_position_target_global_int_t pos_target;
mavlink_msg_set_position_target_global_int_decode(msg, &pos_target); mavlink_msg_set_position_target_global_int_decode(msg, &pos_target);
//Unexepectedly, the mask is expecting "ones" for dimensions that should // Unexpectedly, the mask is expecting "ones" for dimensions that should
//be IGNORNED rather than INCLUDED. See mavlink documentation of the // be IGNORNED rather than INCLUDED. See mavlink documentation of the
//SET_POSITION_TARGET_GLOBAL_INT message, type_mask field. // SET_POSITION_TARGET_GLOBAL_INT message, type_mask field.
const uint16_t alt_mask = 0b1111111111111011; // (z mask at bit 3) const uint16_t alt_mask = 0b1111111111111011; // (z mask at bit 3)
bool msg_valid = true; bool msg_valid = true;