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vmount: use math functions instead of macros

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This commit is contained in:
Julian Oes
2021-02-17 13:54:34 -05:00
committed by Daniel Agar
parent 6672be040a
commit f39216b9c3
4 changed files with 22 additions and 21 deletions
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src/modules/vmount/output_mavlink.cpp
+3 -3
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@@ -101,9 +101,9 @@ int OutputMavlinkV1::update(const ControlData *control_data)
// 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] + _config.pitch_offset) * M_RAD_TO_DEG_F;
vehicle_command.param2 = (_angle_outputs[0] + _config.roll_offset) * M_RAD_TO_DEG_F;
vehicle_command.param3 = (_angle_outputs[2] + _config.yaw_offset) * M_RAD_TO_DEG_F;
vehicle_command.param1 = math::degrees(_angle_outputs[1] + _config.pitch_offset);
vehicle_command.param2 = math::degrees(_angle_outputs[0] + _config.roll_offset);
vehicle_command.param3 = math::degrees(_angle_outputs[2] + _config.yaw_offset);
vehicle_command.param7 = 2.0f; // MAV_MOUNT_MODE_MAVLINK_TARGETING;
_vehicle_command_pub.publish(vehicle_command);