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ArduCopter: remove POSITION_TARGET_TYPEMASK_FORCE_SET

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This commit is contained in:
Josh Henderson 2021-07-26 02:36:38 -04:00 committed by Andrew Tridgell
parent 7ff592d29e
commit daf73e7174
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/GCS_Mavlink.cpp
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@ -91,7 +91,7 @@ void GCS_MAVLINK_Copter::send_position_target_global_int()
static constexpr uint16_t POSITION_TARGET_TYPEMASK_LAST_BYTE = 0xF000;
static constexpr uint16_t TYPE_MASK = POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | POSITION_TARGET_TYPEMASK_VZ_IGNORE |
POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE |
POSITION_TARGET_TYPEMASK_FORCE_SET | POSITION_TARGET_TYPEMASK_YAW_IGNORE | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE | POSITION_TARGET_TYPEMASK_LAST_BYTE;
POSITION_TARGET_TYPEMASK_YAW_IGNORE | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE | POSITION_TARGET_TYPEMASK_LAST_BYTE;
mavlink_msg_position_target_global_int_send(
chan,
AP_HAL::millis(), // time_boot_ms
@ -131,25 +131,25 @@ void GCS_MAVLINK_Copter::send_position_target_local_ned()
case ModeGuided::SubMode::WP:
type_mask = POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | POSITION_TARGET_TYPEMASK_VZ_IGNORE |
POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE |
POSITION_TARGET_TYPEMASK_FORCE_SET | POSITION_TARGET_TYPEMASK_YAW_IGNORE| POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE; // ignore everything except position
POSITION_TARGET_TYPEMASK_YAW_IGNORE| POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE; // ignore everything except position
target_pos = copter.mode_guided.get_target_pos().tofloat() * 0.01; // convert to metres
break;
case ModeGuided::SubMode::PosVelAccel:
type_mask = POSITION_TARGET_TYPEMASK_FORCE_SET | POSITION_TARGET_TYPEMASK_YAW_IGNORE| POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE; // ignore everything except position, velocity & acceleration
type_mask = POSITION_TARGET_TYPEMASK_YAW_IGNORE| POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE; // ignore everything except position, velocity & acceleration
target_pos = copter.mode_guided.get_target_pos().tofloat() * 0.01; // convert to metres
target_vel = copter.mode_guided.get_target_vel() * 0.01f; // convert to metres/s
target_accel = copter.mode_guided.get_target_accel() * 0.01f; // convert to metres/s/s
break;
case ModeGuided::SubMode::VelAccel:
type_mask = POSITION_TARGET_TYPEMASK_X_IGNORE | POSITION_TARGET_TYPEMASK_Y_IGNORE | POSITION_TARGET_TYPEMASK_Z_IGNORE |
POSITION_TARGET_TYPEMASK_FORCE_SET | POSITION_TARGET_TYPEMASK_YAW_IGNORE| POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE; // ignore everything except velocity & acceleration
POSITION_TARGET_TYPEMASK_YAW_IGNORE| POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE; // ignore everything except velocity & acceleration
target_vel = copter.mode_guided.get_target_vel() * 0.01f; // convert to metres/s
target_accel = copter.mode_guided.get_target_accel() * 0.01f; // convert to metres/s/s
break;
case ModeGuided::SubMode::Accel:
type_mask = POSITION_TARGET_TYPEMASK_X_IGNORE | POSITION_TARGET_TYPEMASK_Y_IGNORE | POSITION_TARGET_TYPEMASK_Z_IGNORE |
POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | POSITION_TARGET_TYPEMASK_VZ_IGNORE |
POSITION_TARGET_TYPEMASK_FORCE_SET | POSITION_TARGET_TYPEMASK_YAW_IGNORE| POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE; // ignore everything except velocity & acceleration
POSITION_TARGET_TYPEMASK_YAW_IGNORE| POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE; // ignore everything except velocity & acceleration
target_accel = copter.mode_guided.get_target_accel() * 0.01f; // convert to metres/s/s
break;
}