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vmount: publish mount angle commands in proper order and units

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Nicolas de Palezieux 2017-08-10 13:45:29 +02:00 committed by Beat Küng
parent 4eb0ffc554
commit 89aeea7e8e
1 changed files with 5 additions and 3 deletions
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8
src/drivers/vmount/output_mavlink.cpp
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@ -104,9 +104,11 @@ int OutputMavlink::update(const ControlData *control_data)
vehicle_command.timestamp = t;
vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL;
vehicle_command.param1 = _angle_outputs[0];
vehicle_command.param2 = _angle_outputs[1];
vehicle_command.param3 = _angle_outputs[2];
// vmount spec has roll, pitch on channels 0, 1, respectively; MAVLink spec has roll, pitch on channels 1, 0, respectively
// vmount uses radians, MAVLink uses degrees
vehicle_command.param1 = _angle_outputs[1] * M_RAD_TO_DEG_F;
vehicle_command.param2 = _angle_outputs[0] * M_RAD_TO_DEG_F;
vehicle_command.param3 = _angle_outputs[2] * M_RAD_TO_DEG_F;
orb_publish(ORB_ID(vehicle_command), _vehicle_command_pub, &vehicle_command);