From 23209ddafd3ab1cbafd275b8e938f6abc4d2b873 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 17 Jun 2022 14:59:36 +0900 Subject: [PATCH] AP_Mount: gremsy neutral mode leaves ef targets untouched --- libraries/AP_Mount/AP_Mount_Gremsy.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.cpp b/libraries/AP_Mount/AP_Mount_Gremsy.cpp index f2b1689905..8f7738e5cc 100644 --- a/libraries/AP_Mount/AP_Mount_Gremsy.cpp +++ b/libraries/AP_Mount/AP_Mount_Gremsy.cpp @@ -32,11 +32,8 @@ void AP_Mount_Gremsy::update() // move mount to a neutral position, typically pointing forward case MAV_MOUNT_MODE_NEUTRAL: { - const Vector3f &target = _state._neutral_angles.get(); - _angle_ef_target_rad.x = ToRad(target.x); - _angle_ef_target_rad.y = ToRad(target.y); - _angle_ef_target_rad.z = ToRad(target.z); - send_gimbal_device_set_attitude(_angle_ef_target_rad.x, _angle_ef_target_rad.y, _angle_ef_target_rad.z, false); + const Vector3f &angle_bf_target = _state._neutral_angles.get(); + send_gimbal_device_set_attitude(ToRad(angle_bf_target.x), ToRad(angle_bf_target.y), ToRad(angle_bf_target.z), false); } break;