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improved readability of offboard fixes

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This commit is contained in:
Steven Blass
2014-11-18 08:26:29 -05:00
parent 5f6d03099e
commit 4eb930f704
3 changed files with 12 additions and 7 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+8 -4
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@@ -538,12 +538,16 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
offboard_control_sp.ignore &= ~(1 << i);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << i));
}
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAW);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 10)) <<
(OFB_IGN_BIT_YAW - 10);
if (set_position_target_local_ned.type_mask & (1 << 10)) {
offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAW);
}
offboard_control_sp.ignore &= ~(1 << OFB_IGN_BIT_YAWRATE);
offboard_control_sp.ignore |= (set_position_target_local_ned.type_mask & (1 << 11)) <<
(OFB_IGN_BIT_YAWRATE - 11);
if (set_position_target_local_ned.type_mask & (1 << 11)) {
offboard_control_sp.ignore |= (1 << OFB_IGN_BIT_YAWRATE);
}
offboard_control_sp.timestamp = hrt_absolute_time();