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vmount: publish mount_status

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We need feedback in mavlink about the attitude of the gimbal. Therefore
the gimbal output angles are published in vmount.
This commit is contained in:
Julian Oes
2016-11-08 11:26:25 +01:00
committed by Beat Küng
parent 7e312f3961
commit 18d69698a0
3 changed files with 21 additions and 0 deletions
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src/drivers/vmount/output.cpp
+14
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@@ -41,8 +41,10 @@
#include "output.h"
#include <errno.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/mount_status.h>
#include <px4_defines.h>
#include <geo/geo.h>
#include <math.h>
@@ -81,6 +83,18 @@ int OutputBase::initialize()
return 0;
}
void OutputBase::publish()
{
int instance;
mount_status_s mount_status;
for (unsigned i = 0; i < 3; ++i) {
mount_status.attitude_euler_angle[i] = _angle_outputs[i];
}
orb_publish_auto(ORB_ID(mount_status), &_mount_status_pub, &mount_status, &instance, ORB_PRIO_DEFAULT);
}
float OutputBase::_calculate_pitch(double lon, double lat, float altitude,
const vehicle_global_position_s &global_position)
{