Copter: GCSMavlink Guided inputs check force_set and reject

ArduCopter/GCS_Mavlink.cpp

@@ -1009,6 +1009,8 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
         POSITION_TARGET_TYPEMASK_YAW_IGNORE;
     constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE =
         POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE;
+    constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_FORCE_SET =
+        POSITION_TARGET_TYPEMASK_FORCE_SET;
 
     switch (msg.msgid) {
 
@@ -1119,6 +1121,12 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
         bool acc_ignore      = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
         bool yaw_ignore      = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE;
         bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
+        bool force_set       = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE_SET;
+
+        // force_set true, do not accept command
+        if (force_set) {
+            break;
+        }
 
         // prepare position
         Vector3f pos_vector;
@@ -1207,6 +1215,12 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
         bool acc_ignore      = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
         bool yaw_ignore      = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE;
         bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
+        bool force_set       = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE_SET;
+
+        // force_set true, do not accept command
+        if (force_set) {
+            break;
+        }
 
         // extract location from message
         Location loc;