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

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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
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11
src/modules/mavlink/mavlink_receiver.cpp
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@@ -1464,7 +1464,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
offboard_control_mode_s offboard_control_mode{};
/* 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
@@ -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
* body rates to keep the controllers running
*/
bool ignore_bodyrate_msg_x = (bool)(set_attitude_target.type_mask & 0x1);
bool ignore_bodyrate_msg_y = (bool)(set_attitude_target.type_mask & 0x2);
bool ignore_bodyrate_msg_z = (bool)(set_attitude_target.type_mask & 0x4);
bool ignore_attitude_msg = (bool)(set_attitude_target.type_mask & (1 << 7));
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 & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE);
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 & ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNORE);
if ((ignore_bodyrate_msg_x || ignore_bodyrate_msg_y ||
ignore_bodyrate_msg_z) &&