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gimbal: introduce timestamp of last setpoint update

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To enable implementing a timeout when there's no new setpoint coming in.
This commit is contained in:
Matthias Grob
2024-10-17 14:57:08 +02:00
committed by Julian Oes
parent d5f3e858e8
commit 2bccb20ee6
7 changed files with 30 additions and 16 deletions
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src/modules/gimbal/input.cpp
+4 -4
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@@ -42,15 +42,15 @@ InputBase::InputBase(Parameters &parameters) :
{}
void InputBase::control_data_set_lon_lat(ControlData &control_data, double lon, double lat, float altitude,
float roll_angle,
float pitch_fixed_angle)
uint64_t timestamp)
{
control_data.timestamp_last_update = timestamp;
control_data.type = ControlData::Type::LonLat;
control_data.type_data.lonlat.lon = lon;
control_data.type_data.lonlat.lat = lat;
control_data.type_data.lonlat.altitude = altitude;
control_data.type_data.lonlat.roll_offset = roll_angle;
control_data.type_data.lonlat.pitch_fixed_angle = pitch_fixed_angle;
control_data.type_data.lonlat.roll_offset = NAN;
control_data.type_data.lonlat.pitch_fixed_angle = NAN;
control_data.type_data.lonlat.pitch_offset = 0.f;
control_data.type_data.lonlat.yaw_offset = 0.f;
}