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Added missing enum definitions

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Fixed float equality checks
This commit is contained in:
Anton Matosov
2015-03-06 18:57:37 -08:00
parent 415846b486
commit 076180a983
2 changed files with 29 additions and 3 deletions
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src/drivers/servo_gimbal/gimbal.cpp
+3 -2
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@@ -73,6 +73,7 @@
#include <uORB/topics/vehicle_attitude.h>
#include <board_config.h>
#include <mathlib/math/test/test.hpp>
/* Configuration Constants */
@@ -312,7 +313,7 @@ Gimbal::cycle()
//debug("cmd: %d, param1: %8.4f param2: %8.4f", (double)cmd.command, (double)cmd.param1, (double)cmd.param2);
if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && cmd.param7 == 2) {
if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && equal(cmd.param7, VEHICLE_MOUNT_MODE_MAVLINK_TARGETING)) {
/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1;
@@ -323,7 +324,7 @@ Gimbal::cycle()
}
// XXX change this to the real quaternion command
if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && cmd.param7 == 2) {
if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && equal(cmd.param7, VEHICLE_MOUNT_MODE_MAVLINK_TARGETING)) {
/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1;