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vmount: accept mavlink input from [0..360] degrees

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This enables mavlink user input not only in the range of [-180..180]
degrees but also [0..360] degrees.
This commit is contained in:
Julian Oes
2017-09-15 13:52:51 +02:00
committed by Beat Küng
parent 8ba6c209d4
commit 98de8c85a4
1 changed files with 5 additions and 0 deletions
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src/drivers/vmount/input_mavlink.cpp
+5
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@@ -278,6 +278,11 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
// both specs have yaw on channel 2
_control_data.type_data.angle.angles[2] = vehicle_command.param3 * M_DEG_TO_RAD_F;
// We expect angle of [-pi..+pi]. If the input range is [0..2pi] we can fix that.
if (_control_data.type_data.angle.angles[2] > M_PI_F) {
_control_data.type_data.angle.angles[2] -= 2 * M_PI_F;
}
*control_data = &_control_data;
break;