From 5f6d03099e07e20abe9cec685fee1244d7c9a0d4 Mon Sep 17 00:00:00 2001 From: Steven Blass Date: Mon, 17 Nov 2014 19:58:18 -0500 Subject: fixed yaw/yawrate bit masking. fixed navigator overriding offboard setpoint --- src/modules/mavlink/mavlink_receiver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/modules/mavlink/mavlink_receiver.cpp') diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index bc092c7e9..c0a8d7322 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -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(); -- cgit v1.2.3