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vmount: set all DO_MOUNT_CONFIGURE params

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We previously did not set param2 to param7 of DO_MOUNT_CONFIGURE.
This commit is contained in:
Julian Oes
2020-01-06 16:24:36 +01:00
committed by Beat Küng
parent 5836edc586
commit 14133380e2
1 changed files with 9 additions and 0 deletions
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src/modules/vmount/output_mavlink.cpp
+9
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@@ -75,6 +75,15 @@ int OutputMavlink::update(const ControlData *control_data)
vehicle_command.param1 = vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING;
}
// We assume that a MAVLink gimbal does the stabilization.
vehicle_command.param2 = 0.0f;
vehicle_command.param3 = 0.0f;
vehicle_command.param4 = 0.0f;
vehicle_command.param5 = static_cast<float>(control_data->type_data.angle.frames[0]);
vehicle_command.param6 = static_cast<float>(control_data->type_data.angle.frames[1]);
vehicle_command.param7 = static_cast<float>(control_data->type_data.angle.frames[2]);
_vehicle_command_pub.publish(vehicle_command);
}