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vmount: Store offset in radians and calculated scale factor in OutputConfig instead of raw parameters.

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This commit is contained in:
Matthew Edwards
2017-10-21 10:29:37 +13:00
committed by Beat Küng
parent ccf3e71b56
commit fdf4eb0bd6
4 changed files with 25 additions and 24 deletions
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src/drivers/vmount/output_mavlink.cpp
+3 -3
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@@ -113,9 +113,9 @@ int OutputMavlink::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] * M_RAD_TO_DEG_F + _config.pitch_offset;
vehicle_command.param2 = _angle_outputs[0] * M_RAD_TO_DEG_F + _config.roll_offset;
vehicle_command.param3 = _angle_outputs[2] * M_RAD_TO_DEG_F + _config.yaw_offset;
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;
orb_publish(ORB_ID(vehicle_command), _vehicle_command_pub, &vehicle_command);