fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-07 18:10:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

vmount: fix v1 frames with v2 input

Browse Source 
It looks like the frames for pitch and roll were not set correctly when
v1 is used in v2 input.
This commit is contained in:
Julian Oes
2021-09-07 17:27:38 +02:00
committed by Daniel Agar
parent 0ce4eae314
commit f7c4034f3c
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vmount/input_mavlink.cpp
+2 -2
View File
@@ -634,8 +634,8 @@ int InputMavlinkGimbalV2::update_impl(unsigned int timeout_ms, ControlData **con
case vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING: {
_control_data.type = ControlData::Type::Angle;
_control_data.type_data.angle.frames[0] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
_control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
_control_data.type_data.angle.frames[0] = ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame;
_control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame;
_control_data.type_data.angle.frames[2] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
// vmount spec has roll on channel 0, MAVLink spec has pitch on channel 0