From 0b7710420b7e52e0d6c3b28ab056f8c1beb01812 Mon Sep 17 00:00:00 2001 From: davidsastresas Date: Thu, 21 Mar 2024 09:44:02 +0900 Subject: [PATCH] AP_Mount: fix gimbal-device-attitude-status yaw frame flag --- libraries/AP_Mount/AP_Mount_Backend.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp index f23412e40b..75eb1bba18 100644 --- a/libraries/AP_Mount/AP_Mount_Backend.cpp +++ b/libraries/AP_Mount/AP_Mount_Backend.cpp @@ -854,6 +854,7 @@ uint16_t AP_Mount_Backend::get_gimbal_device_flags() const (get_mode() == MAV_MOUNT_MODE_NEUTRAL ? GIMBAL_DEVICE_FLAGS_NEUTRAL : 0) | GIMBAL_DEVICE_FLAGS_ROLL_LOCK | // roll angle is always earth-frame GIMBAL_DEVICE_FLAGS_PITCH_LOCK| // pitch angle is always earth-frame, yaw_angle is always body-frame + GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | // yaw angle is always in vehicle-frame (yaw_lock_state ? GIMBAL_DEVICE_FLAGS_YAW_LOCK : 0); return flags; }