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AP_Mount: fix gimbal-device-attitude-status yaw frame flag

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davidsastresas 2024-03-21 09:44:02 +09:00 committed by Andrew Tridgell
parent affc1b4eb4
commit 0b7710420b
1 changed files with 1 additions and 0 deletions
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1
libraries/AP_Mount/AP_Mount_Backend.cpp
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@ -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;
}