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read setpoint type from type mask in offboard

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This commit is contained in:
Andreas Antener
2016-03-21 20:32:19 +01:00
parent 46ad873d00
commit 664b0ee0a9
1 changed files with 15 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+15 -1
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@@ -671,6 +671,11 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
/* yawrate ignore flag mapps to ignore_bodyrate */
offboard_control_mode.ignore_bodyrate = (bool)(set_position_target_local_ned.type_mask & 0x800);
bool is_takeoff_sp = (bool)(set_position_target_local_ned.type_mask & 0x1000);
bool is_land_sp = (bool)(set_position_target_local_ned.type_mask & 0x2000);
bool is_loiter_sp = (bool)(set_position_target_local_ned.type_mask & 0x3000);
offboard_control_mode.timestamp = hrt_absolute_time();
if (_offboard_control_mode_pub == nullptr) {
@@ -709,7 +714,16 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
pos_sp_triplet.previous.valid = false;
pos_sp_triplet.next.valid = false;
pos_sp_triplet.current.valid = true;
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION; //XXX support others
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 {
pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
}
/* set the local pos values */
if (!offboard_control_mode.ignore_position) {