From 0c6d734db8b84877ac616accd07b5fb8d9b4c62b Mon Sep 17 00:00:00 2001 From: Rhys Mainwaring Date: Wed, 13 Mar 2024 22:02:13 +0000 Subject: [PATCH] ros2: set bit mask in position setpoints (#54) Signed-off-by: Rhys Mainwaring --- terrain_navigation_ros/src/terrain_planner.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/terrain_navigation_ros/src/terrain_planner.cpp b/terrain_navigation_ros/src/terrain_planner.cpp index 911cb85c..f3b63af9 100644 --- a/terrain_navigation_ros/src/terrain_planner.cpp +++ b/terrain_navigation_ros/src/terrain_planner.cpp @@ -765,7 +765,8 @@ void TerrainPlanner::publishGlobalPositionSetpoints( mavros_msgs::msg::GlobalPositionTarget msg; msg.header.stamp = this->get_clock()->now(); msg.coordinate_frame = mavros_msgs::msg::GlobalPositionTarget::FRAME_GLOBAL_REL_ALT; - msg.type_mask = 0.0; + msg.type_mask = + mavros_msgs::msg::GlobalPositionTarget::IGNORE_YAW | mavros_msgs::msg::GlobalPositionTarget::IGNORE_YAW_RATE; msg.latitude = latitude; msg.longitude = longitude; msg.altitude = altitude - local_origin_altitude_; @@ -790,7 +791,7 @@ void TerrainPlanner::publishPositionSetpoints(rclcpp::Publisherget_clock()->now(); msg.coordinate_frame = mavros_msgs::msg::PositionTarget::FRAME_LOCAL_NED; - msg.type_mask = 0.0; + msg.type_mask = mavros_msgs::msg::PositionTarget::IGNORE_YAW | mavros_msgs::msg::PositionTarget::IGNORE_YAW_RATE; msg.position.x = position(0); msg.position.y = position(1); msg.position.z = position(2);