From 310194185a859622702ae63d65c78f1c1fbe3b1f Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Wed, 19 Jul 2023 17:17:14 +0200 Subject: [PATCH] mission block: acquire gimbal control also for gimbal v2 protocol --- src/modules/navigator/mission_block.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 565b2f2150..54c434d0eb 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -574,8 +574,9 @@ MissionBlock::issue_command(const mission_item_s &item) } else { - // This is to support legacy DO_MOUNT_CONTROL as part of a mission. - if (item.nav_cmd == NAV_CMD_DO_MOUNT_CONTROL) { + // This is to support legacy DO_MOUNT_CONTROL and mavlink gimbal protocol v2 DO_GIMBAL_MANAGER_PITCHYAW + // as part of a mission. + if (item.nav_cmd == NAV_CMD_DO_MOUNT_CONTROL || item.nav_cmd == NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW) { _navigator->acquire_gimbal_control(); }