From 4f88c200ec73f67b0ffb221f2da55aa3b6daa8b9 Mon Sep 17 00:00:00 2001 From: David Jablonski Date: Tue, 30 Nov 2021 18:26:19 +0100 Subject: [PATCH] vmount: fix gimbal_manager_status --- src/modules/vmount/input_mavlink.cpp | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/modules/vmount/input_mavlink.cpp b/src/modules/vmount/input_mavlink.cpp index 1c0fb12a61..00b8780502 100644 --- a/src/modules/vmount/input_mavlink.cpp +++ b/src/modules/vmount/input_mavlink.cpp @@ -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()