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Simply set_attitude_target handler

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Rates ignore flags are efficiently the same as zeros, so can be ignored.
This commit is contained in:
Oleg Kalachev
2026-08-14 05:21:45 +03:00
parent 94c70994b6
commit 4d77c6c369
1 changed files with 6 additions and 6 deletions
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flix/mavlink.ino
+6 -6
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@@ -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;