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mavlink: fix yaw and yaw_rate ignore mask check

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ArkadiuszNiemiec 2021-03-12 15:06:09 +01:00 committed by Lorenz Meier
parent 7fb43559f8
commit 1d8c55db4a
1 changed files with 4 additions and 4 deletions
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8
src/modules/mavlink/mavlink_receiver.cpp
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@ -929,8 +929,8 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
setpoint.thrust[1] = NAN;
setpoint.thrust[2] = NAN;
setpoint.yaw = (type_mask == POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? NAN : target_local_ned.yaw;
setpoint.yawspeed = (type_mask == POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? NAN : target_local_ned.yaw_rate;
setpoint.yaw = (type_mask & POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? NAN : target_local_ned.yaw;
setpoint.yawspeed = (type_mask & POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? NAN : target_local_ned.yaw_rate;
offboard_control_mode_s ocm{};
@ -1053,8 +1053,8 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t
setpoint.thrust[1] = NAN;
setpoint.thrust[2] = NAN;
setpoint.yaw = (type_mask == POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? NAN : target_global_int.yaw;
setpoint.yawspeed = (type_mask == POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? NAN : target_global_int.yaw_rate;
setpoint.yaw = (type_mask & POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? NAN : target_global_int.yaw;
setpoint.yawspeed = (type_mask & POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? NAN : target_global_int.yaw_rate;
offboard_control_mode_s ocm{};