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fixed yaw/yawrate bit masking. fixed navigator overriding offboard setpoint

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Steven Blass
2014-11-17 19:58:18 -05:00
parent 97a1410ec9
commit 5f6d03099e
2 changed files with 6 additions and 5 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -2
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@@ -540,10 +540,10 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
}
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;
(OFB_IGN_BIT_YAW - 10);
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;
(OFB_IGN_BIT_YAWRATE - 11);
offboard_control_sp.timestamp = hrt_absolute_time();