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vmount: set correct MAV_MOUNT_MODE

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Julian Oes
2019-11-22 16:48:17 +01:00
committed by Lorenz Meier
parent bbd37ada41
commit 1e8ebe20d1
1 changed files with 2 additions and 1 deletions
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src/modules/vmount/output_mavlink.cpp
+2 -1
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2016 PX4 Development Team. All rights reserved. * Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -91,6 +91,7 @@ int OutputMavlink::update(const ControlData *control_data)
vehicle_command.param1 = (_angle_outputs[1] + _config.pitch_offset) * M_RAD_TO_DEG_F; vehicle_command.param1 = (_angle_outputs[1] + _config.pitch_offset) * M_RAD_TO_DEG_F;
vehicle_command.param2 = (_angle_outputs[0] + _config.roll_offset) * M_RAD_TO_DEG_F; vehicle_command.param2 = (_angle_outputs[0] + _config.roll_offset) * M_RAD_TO_DEG_F;
vehicle_command.param3 = (_angle_outputs[2] + _config.yaw_offset) * M_RAD_TO_DEG_F; vehicle_command.param3 = (_angle_outputs[2] + _config.yaw_offset) * M_RAD_TO_DEG_F;
vehicle_command.param7 = 2.0f; // MAV_MOUNT_MODE_MAVLINK_TARGETING;
_vehicle_command_pub.publish(vehicle_command); _vehicle_command_pub.publish(vehicle_command);