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Fixes #6484: Bug in Offboard mode incorrect use of type_mask

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This commit is contained in:
Sean Matthews
2017-06-15 08:56:49 +02:00
committed by Lorenz Meier
parent d5c923c7ef
commit 08891526fd
1 changed files with 7 additions and 5 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+7 -5
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@@ -909,22 +909,24 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
pos_sp_triplet.next.valid = false;
pos_sp_triplet.current.valid = true;
if (is_takeoff_sp) {
/* Order of statements matters. Takeoff can override loiter.
* See https://github.com/mavlink/mavlink/pull/670 for a broader conversation. */
if (is_loiter_sp) {
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
} else if (is_takeoff_sp) {
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
} else if (is_land_sp) {
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LAND;
} else if (is_loiter_sp) {
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
} else if (is_idle_sp) {
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_IDLE;
} else {
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
}
/* set the local pos values */
if (!offboard_control_mode.ignore_position) {
pos_sp_triplet.current.position_valid = true;