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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/vmount.cpp
+6 -6
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@@ -256,12 +256,12 @@ 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_range = params.mnt_range_pitch;
output_config.roll_range = params.mnt_range_roll;
output_config.yaw_range = params.mnt_range_yaw;
output_config.pitch_offset = params.mnt_off_pitch;
output_config.roll_offset = params.mnt_off_roll;
output_config.yaw_offset = params.mnt_off_yaw;
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.mavlink_sys_id = params.mnt_mav_sysid;
output_config.mavlink_comp_id = params.mnt_mav_compid;