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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/vmount.cpp
+6 -6
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@@ -233,12 +233,12 @@ static int vmount_thread_main(int argc, char *argv[])
output_config.gimbal_normal_mode_value = params.mnt_ob_norm_mode;
output_config.gimbal_retracted_mode_value = params.mnt_ob_lock_mode;
output_config.pitch_scale = 1.0f / ((params.mnt_range_pitch / 2.0f) * M_DEG_TO_RAD_F);
output_config.roll_scale = 1.0f / ((params.mnt_range_roll / 2.0f) * M_DEG_TO_RAD_F);
output_config.yaw_scale = 1.0f / ((params.mnt_range_yaw / 2.0f) * M_DEG_TO_RAD_F);
output_config.pitch_offset = params.mnt_off_pitch * M_DEG_TO_RAD_F;
output_config.roll_offset = params.mnt_off_roll * M_DEG_TO_RAD_F;
output_config.yaw_offset = params.mnt_off_yaw * M_DEG_TO_RAD_F;
output_config.pitch_scale = 1.0f / (math::radians(params.mnt_range_pitch / 2.0f));
output_config.roll_scale = 1.0f / (math::radians(params.mnt_range_roll / 2.0f));
output_config.yaw_scale = 1.0f / (math::radians(params.mnt_range_yaw / 2.0f));
output_config.pitch_offset = math::radians(params.mnt_off_pitch);
output_config.roll_offset = math::radians(params.mnt_off_roll);
output_config.yaw_offset = math::radians(params.mnt_off_yaw);
output_config.mavlink_sys_id_v1 = params.mnt_mav_sys_id_v1;
output_config.mavlink_comp_id_v1 = params.mnt_mav_comp_id_v1;