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AP_Mount: block forwarding of MAVlink by bitmask

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proficnc 2016-05-12 12:39:57 +10:00 committed by Andrew Tridgell
parent c8b3c527f9
commit 20a569a4d5
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
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@ -8,6 +8,7 @@
#include "SoloGimbal.h" #include "SoloGimbal.h"
#include <DataFlash/DataFlash.h> #include <DataFlash/DataFlash.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -107,6 +108,9 @@ void AP_Mount_SoloGimbal::status_msg(mavlink_channel_t chan)
if (_gimbal.aligned()) { if (_gimbal.aligned()) {
mavlink_msg_mount_status_send(chan, 0, 0, degrees(_angle_ef_target_rad.y)*100, degrees(_angle_ef_target_rad.x)*100, degrees(_angle_ef_target_rad.z)*100); mavlink_msg_mount_status_send(chan, 0, 0, degrees(_angle_ef_target_rad.y)*100, degrees(_angle_ef_target_rad.x)*100, degrees(_angle_ef_target_rad.z)*100);
} }
// block heartbeat from transmitting to the GCS
GCS_MAVLINK::disable_channel_routing(chan);
} }
/* /*