From 4d77c6c36976de3be78413bb5f0f1abd7070cbf9 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Fri, 14 Aug 2026 05:21:45 +0300 Subject: [PATCH] Simply set_attitude_target handler Rates ignore flags are efficiently the same as zeros, so can be ignored. --- flix/mavlink.ino | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/flix/mavlink.ino b/flix/mavlink.ino index 98d4bc5..db487ca 100644 --- a/flix/mavlink.ino +++ b/flix/mavlink.ino @@ -229,15 +229,15 @@ void handleMavlink(const void *_msg) { attitudeTarget.x = m.q[1]; attitudeTarget.y = -m.q[2]; // convert to flu attitudeTarget.z = -m.q[3]; - ratesExtra.x = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE ? 0 : m.body_roll_rate; - ratesExtra.y = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE ? 0 : -m.body_pitch_rate; - ratesExtra.z = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE ? 0 : -m.body_yaw_rate; + ratesExtra.x = m.body_roll_rate; + ratesExtra.y = -m.body_pitch_rate; + ratesExtra.z = -m.body_yaw_rate; } else { // Rates control attitudeTarget.invalidate(); - ratesTarget.x = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE ? ratesTarget.x : m.body_roll_rate; - ratesTarget.y = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE ? ratesTarget.y : -m.body_pitch_rate; - ratesTarget.z = m.type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE ? ratesTarget.z : -m.body_yaw_rate; + ratesTarget.x = m.body_roll_rate; + ratesTarget.y = -m.body_pitch_rate; + ratesTarget.z = -m.body_yaw_rate; } thrustTarget = valid(m.thrust) ? m.thrust : thrustTarget;