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Fix yaw rate ignore flag for attitude setpoints

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This PR fixes the yaw rate ignore case handling for offboard control using the SET_ATTITUDE_TARGET message
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Jaeyoung-Lim
2021-03-14 00:01:57 +01:00
committed by Lorenz Meier
parent 28681405ae
commit 06e3d38bbd
1 changed files with 1 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -1398,7 +1398,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
// TODO: review use case // TODO: review use case
attitude_setpoint.yaw_sp_move_rate = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ? attitude_setpoint.yaw_sp_move_rate = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ?
attitude_target.body_yaw_rate : NAN; NAN : attitude_target.body_yaw_rate;
if (!(attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE)) { if (!(attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE)) {
fill_thrust(attitude_setpoint.thrust_body, vehicle_status.vehicle_type, attitude_target.thrust); fill_thrust(attitude_setpoint.thrust_body, vehicle_status.vehicle_type, attitude_target.thrust);