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Copter: GCSMavlink Guided inputs check force_set and reject #18720

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merged 1 commit into from Oct 11, 2021
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Copter: GCSMavlink Guided inputs check force_set and reject #18720

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14 changes: 14 additions & 0 deletions ArduCopter/GCS_Mavlink.cpp
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Expand Up @@ -1009,6 +1009,8 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
POSITION_TARGET_TYPEMASK_YAW_IGNORE;
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE =
POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE;
constexpr uint32_t MAVLINK_SET_POS_TYPE_MASK_FORCE_SET =
POSITION_TARGET_TYPEMASK_FORCE_SET;

switch (msg.msgid) {

Expand Down Expand Up @@ -1119,6 +1121,12 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
bool yaw_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE;
bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
bool force_set = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE_SET;
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Should be const, but not a blocker :-)

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ahh but then you will make me change all the ones above it :)


// force_set true, do not accept command
if (force_set) {
break;
}

// prepare position
Vector3f pos_vector;
Expand Down Expand Up @@ -1207,6 +1215,12 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
bool yaw_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_IGNORE;
bool yaw_rate_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_YAW_RATE_IGNORE;
bool force_set = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_FORCE_SET;

// force_set true, do not accept command
if (force_set) {
break;
}

// extract location from message
Location loc;
Expand Down