From f6a2023b13055830281a8b8713d930bced1df9f8 Mon Sep 17 00:00:00 2001 From: Martina Rivizzigno Date: Wed, 11 Jan 2023 12:06:27 +0100 Subject: [PATCH] mission_block: acquire gimbal control also when the command from the gimbal protocol v2 is parsed --- src/modules/navigator/mission_block.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index aee4b1a1cc..07fb3fbcf8 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -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(); }