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change checking of set bit

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Sem van der Hoeven
2023-05-12 12:19:03 +02:00
parent 9785136a48
commit 9faab231e7
1 changed files with 3 additions and 3 deletions
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6
src/px4_connection/src/heartbeat.cpp
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@@ -82,17 +82,17 @@ private:
void publish_new_control_mode() void publish_new_control_mode()
{ {
auto msg = drone_services::msg::DroneControlMode(); auto msg = drone_services::msg::DroneControlMode();
if ((this->control_mode >> CONTROL_ATTITUDE_POS) & 1) if (this->control_mode & (1 << CONTROL_ATTITUDE_POS))
{ {
msg.control_mode = CONTROL_MODE_ATTITUDE; msg.control_mode = CONTROL_MODE_ATTITUDE;
RCLCPP_INFO(this->get_logger(), "set control mode to attitude"); RCLCPP_INFO(this->get_logger(), "set control mode to attitude");
} }
else if ((this->control_mode >> CONTROL_VELOCITY_POS) & 1) else if (this->control_mode & (1 << CONTROL_VELOCITY_POS))
{ {
msg.control_mode = CONTROL_MODE_VELOCITY; msg.control_mode = CONTROL_MODE_VELOCITY;
RCLCPP_INFO(this->get_logger(), "set control mode to velocity"); RCLCPP_INFO(this->get_logger(), "set control mode to velocity");
} }
else if ((this->control_mode >> CONTROL_POSITION_POS) & 1) else if (this->control_mode & (1 << CONTROL_POSITION_POS))
{ {
msg.control_mode = CONTROL_MODE_POSITION; msg.control_mode = CONTROL_MODE_POSITION;
RLCPP_INFO(this->get_logger(), "set control mode to position"); RLCPP_INFO(this->get_logger(), "set control mode to position");