From 1234aae3dfea74dce4581177e53ab1622b83e3c3 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 11 Apr 2023 16:03:42 -0400 Subject: [PATCH] gimbal: output RC fix actuator_controls_2 -> gimbal_controls regression (#21460) - small typo introduced in https://github.com/PX4/PX4-Autopilot/pull/20837 --- src/modules/gimbal/output_rc.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/gimbal/output_rc.cpp b/src/modules/gimbal/output_rc.cpp index ca70ffe5b9..b7ac745cf3 100644 --- a/src/modules/gimbal/output_rc.cpp +++ b/src/modules/gimbal/output_rc.cpp @@ -67,11 +67,11 @@ void OutputRC::update(const ControlData &control_data, bool new_setpoints) (_angle_outputs[0] + math::radians(_parameters.mnt_off_roll)) * (1.0f / (math::radians(_parameters.mnt_range_roll / 2.0f))), -1.f, 1.f); - gimbal_controls.control[gimbal_controls_s::INDEX_ROLL] = constrain( + gimbal_controls.control[gimbal_controls_s::INDEX_PITCH] = constrain( (_angle_outputs[1] + math::radians(_parameters.mnt_off_pitch)) * (1.0f / (math::radians(_parameters.mnt_range_pitch / 2.0f))), -1.f, 1.f); - gimbal_controls.control[gimbal_controls_s::INDEX_ROLL] = constrain( + gimbal_controls.control[gimbal_controls_s::INDEX_YAW] = constrain( (_angle_outputs[2] + math::radians(_parameters.mnt_off_yaw)) * (1.0f / (math::radians(_parameters.mnt_range_yaw / 2.0f))), -1.f, 1.f);