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| author | Steven Blass <steven.r.blass@gmail.com> | 2014-11-18 08:26:29 -0500 |
|---|---|---|
| committer | Steven Blass <steven.r.blass@gmail.com> | 2014-11-18 08:26:29 -0500 |
| commit | 4eb930f704018253a4cff3604cb9faee8468283b (patch) | |
| tree | 8b4c9dda65e4febb0ebdd4e06f93d7e8e9d8b804 /src/modules/mavlink/mavlink_receiver.cpp | |
| parent | 5f6d03099e07e20abe9cec685fee1244d7c9a0d4 (diff) | |
| download | px4-firmware-4eb930f704018253a4cff3604cb9faee8468283b.tar.gz px4-firmware-4eb930f704018253a4cff3604cb9faee8468283b.tar.bz2 px4-firmware-4eb930f704018253a4cff3604cb9faee8468283b.zip | |
improved readability of offboard fixes
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index c0a8d7322..ca00d1a67 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -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(); |