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gimbal: mavlink streamed angular ranges should be radians

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Pernilla 2025-11-30 15:24:08 +01:00 committed by Silvan Fuhrer
parent 0fa5a83409
commit 9de10d672c
1 changed files with 6 additions and 4 deletions
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10
src/modules/gimbal/input_mavlink.cpp
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@ -508,10 +508,12 @@ void InputMavlinkGimbalV2::_stream_gimbal_manager_information(const ControlData
gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK |
gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL;
gimbal_manager_info.pitch_max = _parameters.mnt_range_pitch;
gimbal_manager_info.pitch_min = -_parameters.mnt_range_pitch;
gimbal_manager_info.yaw_max = _parameters.mnt_range_yaw;
gimbal_manager_info.yaw_min = -_parameters.mnt_range_yaw;
gimbal_manager_info.pitch_max = math::radians(_parameters.mnt_max_pitch);
gimbal_manager_info.pitch_min = math::radians(_parameters.mnt_min_pitch);
gimbal_manager_info.yaw_max = math::radians(_parameters.mnt_range_yaw * 0.5f);
gimbal_manager_info.yaw_min = math::radians(-_parameters.mnt_range_yaw * 0.5f);
gimbal_manager_info.roll_max = math::radians(_parameters.mnt_range_roll * 0.5f);
gimbal_manager_info.roll_min = math::radians(-_parameters.mnt_range_roll * 0.5f);
gimbal_manager_info.gimbal_device_id = control_data.device_compid;