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Stop using magic numbers
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@Jaeyoung-Lim
Jaeyoung-Lim committed Aug 28, 2019
1 parent d6a0505 commit 07e944f
Showing 1 changed file with 21 additions and 8 deletions.
29 changes: 21 additions & 8 deletions src/modules/mavlink/mavlink_receiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -915,16 +915,29 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t
offboard_control_mode_s offboard_control_mode{};

/* convert mavlink type (local, NED) to uORB offboard control struct */
offboard_control_mode.ignore_position = (bool)(set_position_target_global_int.type_mask & 0x7);
offboard_control_mode.ignore_position = (bool)(set_position_target_global_int.type_mask &
(POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_X_IGNORE
| POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_Y_IGNORE
| POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_Z_IGNORE));
offboard_control_mode.ignore_alt_hold = (bool)(set_position_target_global_int.type_mask & 0x4);
offboard_control_mode.ignore_velocity = (bool)(set_position_target_global_int.type_mask & 0x38);
offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_global_int.type_mask & 0x1C0);
offboard_control_mode.ignore_attitude = (bool)(set_position_target_global_int.type_mask & 0x400);
offboard_control_mode.ignore_bodyrate_x = (bool)(set_position_target_global_int.type_mask & 0x800);
offboard_control_mode.ignore_bodyrate_y = (bool)(set_position_target_global_int.type_mask & 0x800);
offboard_control_mode.ignore_bodyrate_z = (bool)(set_position_target_global_int.type_mask & 0x800);

offboard_control_mode.ignore_velocity = (bool)(set_position_target_global_int.type_mask &
(POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_VX_IGNORE
| POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_VY_IGNORE
| POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_VZ_IGNORE));
offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_global_int.type_mask &
(POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_AX_IGNORE
| POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_AY_IGNORE
| POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_AZ_IGNORE));
/* yaw ignore flag mapps to ignore_attitude */
offboard_control_mode.ignore_attitude = (bool)(set_position_target_global_int.type_mask &
POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_YAW_IGNORE);
offboard_control_mode.ignore_bodyrate_x = (bool)(set_position_target_global_int.type_mask &
POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
offboard_control_mode.ignore_bodyrate_y = (bool)(set_position_target_global_int.type_mask &
POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
offboard_control_mode.ignore_bodyrate_z = (bool)(set_position_target_global_int.type_mask &
POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);

bool is_force_sp = (bool)(set_position_target_global_int.type_mask & (1 << 9));

bool is_takeoff_sp = (bool)(set_position_target_global_int.type_mask & 0x1000);
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