Copter: fix guided attitude type_mask check

9 years ago · f3cbbef418
1 changed files with 2 additions and 2 deletions
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@ -1538,8 +1538,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
				@@ -1538,8 +1538,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
        mavlink_set_attitude_target_t packet;
        mavlink_msg_set_attitude_target_decode(msg, &packet);

-        // ensure attitude and thrust are provided
-        if (((packet.type_mask & (1<<6)) == 0) || ((packet.type_mask & (1<<7)) == 0)) {
+        // ensure type_mask specifies to use attitude and thrust
+        if ((packet.type_mask & ((1<<7)|(1<<6))) != 0) {
            break;
        }