From 69865e4e046b6efc0e8cd1563d8c5dba5cb5b355 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 19 Sep 2016 08:03:02 +0200
Subject: [PATCH] vmount: fix mavlink input: angles are given in deg

---
 src/drivers/vmount/input_mavlink.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/drivers/vmount/input_mavlink.cpp b/src/drivers/vmount/input_mavlink.cpp
index f97944035f..e023e51a2d 100644
--- a/src/drivers/vmount/input_mavlink.cpp
+++ b/src/drivers/vmount/input_mavlink.cpp
@@ -46,6 +46,7 @@
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <drivers/drv_hrt.h>
 
+#include <px4_defines.h>
 #include <px4_posix.h>
 #include <errno.h>
 
@@ -257,9 +258,9 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
 					_control_data.type_data.angle.is_speed[0] = false;
 					_control_data.type_data.angle.is_speed[1] = false;
 					_control_data.type_data.angle.is_speed[2] = false;
-					_control_data.type_data.angle.angles[0] = vehicle_command.param1;
-					_control_data.type_data.angle.angles[1] = vehicle_command.param2;
-					_control_data.type_data.angle.angles[2] = vehicle_command.param3;
+					_control_data.type_data.angle.angles[0] = vehicle_command.param1 * M_DEG_TO_RAD_F;
+					_control_data.type_data.angle.angles[1] = vehicle_command.param2 * M_DEG_TO_RAD_F;
+					_control_data.type_data.angle.angles[2] = vehicle_command.param3 * M_DEG_TO_RAD_F;
 
 					break;