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qgroundcontrol
Commit 6db27bce authored by Thomas Gubler's avatar Thomas Gubler
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external setpoints/joystick: mavlink messages havea new name

parent 6f015397
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Showing with 3 additions and 3 deletions
src/uas/UAS.cc
View file @ 6db27bce
......@@ -2765,7 +2765,7 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
float attitudeQuaternion[4];
mavlink_euler_to_quaternion(roll, pitch, yaw, attitudeQuaternion);
uint8_t typeMask = 0b111; // disable rate control
mavlink_msg_attitude_setpoint_external_pack(mavlink->getSystemId(),
mavlink_msg_set_attitude_target_pack(mavlink->getSystemId(),
mavlink->getComponentId(),
&message,
QGC::groundTimeUsecs(),
......@@ -2790,7 +2790,7 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
py += roll;
pz -= 2.0f*(thrust-0.5);
uint16_t typeMask = 0b0000000111111000; // select only position control
mavlink_msg_local_ned_position_setpoint_external_pack(mavlink->getSystemId(),
mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(),
mavlink->getComponentId(),
&message,
QGC::groundTimeUsecs(),
......@@ -2819,7 +2819,7 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
const float fy = -dcm[1][2];
const float fz = -dcm[2][2];
uint16_t typeMask = 0b0000001000111111; // select only force control (disable everything else)
mavlink_msg_local_ned_position_setpoint_external_pack(mavlink->getSystemId(),
mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(),
mavlink->getComponentId(),
&message,
QGC::groundTimeUsecs(),
......
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