Plane: use POSITION_TARGET_TYPEMASK enum for bitmasks

- Use POSITION_TARGET_TYPEMASK. - Remove duplicate check for guided mode. Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · Mar 7, 2024 · 769ee2d · 769ee2d
1 parent 6bdcedc
commit 769ee2d
Showing 1 changed file with 12 additions and 8 deletions.
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
@@ -1372,10 +1372,17 @@ void GCS_MAVLINK_Plane::handle_set_position_target_global_int(const mavlink_mess
         // Unexpectedly, the mask is expecting "ones" for dimensions that should
         // be IGNORNED rather than INCLUDED.  See mavlink documentation of the
         // SET_POSITION_TARGET_GLOBAL_INT message, type_mask field.
-        const uint16_t alt_mask = 0b1111111111111011; // (z mask at bit 3)
-
-        // bit mask for path following: ignore force_set, yaw, yaw_rate
-        const uint16_t path_mask = 0b1111111000000000;
+        // const uint16_t alt_mask = 0b1111111111111011; // (z mask at bit 3)
+        const uint16_t alt_mask = POSITION_TARGET_TYPEMASK_X_IGNORE | POSITION_TARGET_TYPEMASK_Y_IGNORE | POSITION_TARGET_TYPEMASK_Z_IGNORE
+            | POSITION_TARGET_TYPEMASK_VX_IGNORE | POSITION_TARGET_TYPEMASK_VY_IGNORE | POSITION_TARGET_TYPEMASK_VZ_IGNORE
+            | POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE
+            | POSITION_TARGET_TYPEMASK_FORCE_SET
+            | POSITION_TARGET_TYPEMASK_YAW_IGNORE | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE;
+
+        // bit mask for path following: force_set, yaw, yaw_rate
+        // const uint16_t path_mask = 0b1111110000000000;
+        const uint16_t path_mask = POSITION_TARGET_TYPEMASK_YAW_IGNORE
+            | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE;
 
         bool msg_valid = true;
         AP_Mission::Mission_Command cmd = {0};
@@ -1454,10 +1461,7 @@ void GCS_MAVLINK_Plane::handle_set_position_target_global_int(const mavlink_mess
                     }
                 }
 
-                // only accept position updates when in GUIDED mode
-                if (!plane.control_mode->is_guided_mode()) {
-                    return;
-                }
+                // update path guidance
                 plane.mode_guided.handle_guided_path_request(
                     cmd.content.location, unit_vel, path_curvature, dir_is_ccw);