Rover: inform user when they send a bad position target message

Author: peterbarker

Rover/GCS_MAVLink_Rover.cpp

@@ -675,6 +675,14 @@ void GCS_MAVLINK_Rover::handle_set_attitude_target(const mavlink_message_t &msg)
     }
 }
 
+// if we receive a message where the user has not masked out
+// acceleration from the input packet we send a curt message
+// informing them:
+void GCS_MAVLINK_Rover::send_acc_ignore_must_be_set_message(const char *msgname)
+{
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Ignoring %s; set ACC_IGNORE in mask", msgname);
+}
+
 void GCS_MAVLINK_Rover::handle_set_position_target_local_ned(const mavlink_message_t &msg)
 {
     // decode packet
@@ -782,6 +790,7 @@ void GCS_MAVLINK_Rover::handle_set_position_target_local_ned(const mavlink_messa
 
     if (!acc_ignore) {
         // ignore any command where acceleration is not ignored
+        send_acc_ignore_must_be_set_message("SET_POSITION_TARGET_LOCAL_NED");
         return;
     }
 
@@ -891,6 +900,7 @@ void GCS_MAVLINK_Rover::handle_set_position_target_global_int(const mavlink_mess
 
     if (!acc_ignore) {
         // ignore any command where acceleration is not ignored
+        send_acc_ignore_must_be_set_message("SET_POSITION_TARGET_GLOBAL_INT");
         return;
     }
 

Rover/GCS_MAVLink_Rover.h

@@ -52,6 +52,10 @@ class GCS_MAVLINK_Rover : public GCS_MAVLINK
 
     void send_servo_out();
 
+    // if we receive a message where the user has not masked out
+    // acceleration from the input packet we send a curt message
+    // informing them:
+    void send_acc_ignore_must_be_set_message(const char *msgname);
     uint8_t base_mode() const override;
     MAV_STATE vehicle_system_status() const override;