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vmount: fix gimbal_manager_status

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David Jablonski 2021-11-30 18:26:19 +01:00 committed by Julian Oes
parent 9345f68a93
commit 4f88c200ec
1 changed files with 10 additions and 10 deletions
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20
src/modules/vmount/input_mavlink.cpp
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@ -451,17 +451,17 @@ void InputMavlinkGimbalV2::_stream_gimbal_manager_status()
if (_gimbal_device_attitude_status_sub.updated()) {
_gimbal_device_attitude_status_sub.copy(&gimbal_device_attitude_status);
}
gimbal_manager_status_s gimbal_manager_status{};
gimbal_manager_status.timestamp = hrt_absolute_time();
gimbal_manager_status.flags = gimbal_device_attitude_status.device_flags;
gimbal_manager_status.gimbal_device_id = 0;
gimbal_manager_status.primary_control_sysid = _sys_id_primary_control;
gimbal_manager_status.primary_control_compid = _comp_id_primary_control;
gimbal_manager_status.secondary_control_sysid = 0; // TODO: support secondary control
gimbal_manager_status.secondary_control_compid = 0; // TODO: support secondary control
_gimbal_manager_status_pub.publish(gimbal_manager_status);
gimbal_manager_status_s gimbal_manager_status{};
gimbal_manager_status.timestamp = hrt_absolute_time();
gimbal_manager_status.flags = gimbal_device_attitude_status.device_flags;
gimbal_manager_status.gimbal_device_id = 0;
gimbal_manager_status.primary_control_sysid = _sys_id_primary_control;
gimbal_manager_status.primary_control_compid = _comp_id_primary_control;
gimbal_manager_status.secondary_control_sysid = 0; // TODO: support secondary control
gimbal_manager_status.secondary_control_compid = 0; // TODO: support secondary control
_gimbal_manager_status_pub.publish(gimbal_manager_status);
}
}
void InputMavlinkGimbalV2::_stream_gimbal_manager_information()