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vmount: fix v1 frames for v1 input

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This basically means that we want roll and pitch to be absolute, so
relative to the horizon.
This commit is contained in:
Julian Oes
2021-09-24 10:35:11 +02:00
committed by Daniel Agar
parent 3c5bf497a3
commit 0ce4eae314
1 changed files with 2 additions and 2 deletions
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src/modules/vmount/input_mavlink.cpp
+2 -2
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@@ -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