fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 17:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Use enums for set attitude setpoint typemasks for offboard mode (#16327)

Browse Source 
This commit switches the typemask comaparision to enums for better readability
This commit is contained in:
JaeyoungLim
2020-12-04 17:44:33 +01:00
committed by GitHub
parent 3783ab4a6a
commit e6992db1ca
1 changed files with 5 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_receiver.cpp
+5 -6
View File
@@ -1464,7 +1464,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
offboard_control_mode_s offboard_control_mode{}; offboard_control_mode_s offboard_control_mode{};
/* set correct ignore flags for thrust field: copy from mavlink message */ /* set correct ignore flags for thrust field: copy from mavlink message */
offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6)); offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE);
/* /*
* The tricky part in parsing this message is that the offboard sender *can* set attitude and thrust * The tricky part in parsing this message is that the offboard sender *can* set attitude and thrust
@@ -1478,11 +1478,10 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
* throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and * throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and
* body rates to keep the controllers running * body rates to keep the controllers running
*/ */
bool ignore_bodyrate_msg_x = (bool)(set_attitude_target.type_mask & 0x1); bool ignore_bodyrate_msg_x = (bool)(set_attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE);
bool ignore_bodyrate_msg_y = (bool)(set_attitude_target.type_mask & 0x2); bool ignore_bodyrate_msg_y = (bool)(set_attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE);
bool ignore_bodyrate_msg_z = (bool)(set_attitude_target.type_mask & 0x4); bool ignore_bodyrate_msg_z = (bool)(set_attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE);
bool ignore_attitude_msg = (bool)(set_attitude_target.type_mask & (1 << 7)); bool ignore_attitude_msg = (bool)(set_attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE);
if ((ignore_bodyrate_msg_x || ignore_bodyrate_msg_y || if ((ignore_bodyrate_msg_x || ignore_bodyrate_msg_y ||
ignore_bodyrate_msg_z) && ignore_bodyrate_msg_z) &&