From 0ce4eae31430b50fb236ece30be87960822fbc97 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 24 Sep 2021 10:35:11 +0200 Subject: [PATCH] vmount: fix v1 frames for v1 input This basically means that we want roll and pitch to be absolute, so relative to the horizon. --- src/modules/vmount/input_mavlink.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/vmount/input_mavlink.cpp b/src/modules/vmount/input_mavlink.cpp index 00b8780502..5fa1208d7f 100644 --- a/src/modules/vmount/input_mavlink.cpp +++ b/src/modules/vmount/input_mavlink.cpp @@ -265,8 +265,8 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con case vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING: { _control_data.type = ControlData::Type::Angle; - _control_data.type_data.angle.frames[0] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame; - _control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame; + _control_data.type_data.angle.frames[0] = ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame; + _control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame; _control_data.type_data.angle.frames[2] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame; // vmount spec has roll on channel 0, MAVLink spec has pitch on channel 0