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APMrover2: Remove post_ignore check since is always true 

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
c415-sdk
Patrick José Pereira 5 years ago committed by Randy Mackay
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de2cf89b60
commit
21e5922b2e
1 changed files with 10 additions and 10 deletions
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  1. 20
      APMrover2/GCS_Mavlink.cpp

20
APMrover2/GCS_Mavlink.cpp
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@ -863,19 +863,19 @@ void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg) @@ -863,19 +863,19 @@ void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
// GCS will need to monitor desired location to
// see if they are having an effect.
}
} else if (pos_ignore && !vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
} else if (!vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
// consume velocity
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
} else if (pos_ignore && !vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
} else if (!vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
// consume velocity and turn rate
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, speed_dir * target_speed);
} else if (pos_ignore && !vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
} else if (!vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
// consume velocity and heading
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
} else if (pos_ignore && vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
} else if (vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
// consume just target heading (probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, 0.0f);
} else if (pos_ignore && vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
} else if (vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
// consume just turn rate (probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f);
}
@ -968,19 +968,19 @@ void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg) @@ -968,19 +968,19 @@ void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
// GCS will just need to look at desired location
// outputs to see if it having an effect.
}
} else if (pos_ignore && !vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
} else if (!vel_ignore && acc_ignore && yaw_ignore && yaw_rate_ignore) {
// consume velocity
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
} else if (pos_ignore && !vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
} else if (!vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
// consume velocity and turn rate
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, speed_dir * target_speed);
} else if (pos_ignore && !vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
} else if (!vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
// consume velocity
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, speed_dir * target_speed);
} else if (pos_ignore && vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
} else if (vel_ignore && acc_ignore && !yaw_ignore && yaw_rate_ignore) {
// consume just target heading (probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_heading_and_speed(target_yaw_cd, 0.0f);
} else if (pos_ignore && vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
} else if (vel_ignore && acc_ignore && yaw_ignore && !yaw_rate_ignore) {
// consume just turn rate(probably only skid steering vehicles can do this)
rover.mode_guided.set_desired_turn_rate_and_speed(target_turn_rate_cds, 0.0f);
}

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