From 9de10d672c754e9dca6a84104fbc018fea6c6433 Mon Sep 17 00:00:00 2001 From: Pernilla Date: Sun, 30 Nov 2025 15:24:08 +0100 Subject: [PATCH] gimbal: mavlink streamed angular ranges should be radians --- src/modules/gimbal/input_mavlink.cpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/src/modules/gimbal/input_mavlink.cpp b/src/modules/gimbal/input_mavlink.cpp index aef348ca53..de7ea22155 100644 --- a/src/modules/gimbal/input_mavlink.cpp +++ b/src/modules/gimbal/input_mavlink.cpp @@ -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;