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

protocol v2 is parsed
2026-05-23 17:37:34 +08:00 · 2023-01-31 06:46:23 +01:00
1 changed files with 2 additions and 2 deletions
@@ -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();
 		}