fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-16 15:37:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mission_block: acquire gimbal control also when the command from the gimbal

Browse Source 
protocol v2 is parsed
This commit is contained in:
Martina Rivizzigno
2023-01-11 12:06:27 +01:00
parent 2be701f902
commit f6a2023b13
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_block.cpp
+2 -2
View File
@@ -589,8 +589,8 @@ MissionBlock::issue_command(const mission_item_s &item)
} else {
// This is to support legacy DO_MOUNT_CONTROL as part of a mission.
if (item.nav_cmd == NAV_CMD_DO_MOUNT_CONTROL) {
// This is to support legacy DO_MOUNT_CONTROL and mavlink gimbal protocol v2 DO_GIMBAL_MANAGER_PITCHYAW as part of a mission.
if (item.nav_cmd == NAV_CMD_DO_MOUNT_CONTROL || item.nav_cmd == NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW) {
_navigator->acquire_gimbal_control();
}