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AP_Mount: adjust for Location_Class and Location unification

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This commit is contained in:
Peter Barker 2019-01-02 14:13:25 +11:00 committed by Peter Barker
parent b12dc3cde7
commit 2f3237143f
1 changed files with 9 additions and 7 deletions
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16
libraries/AP_Mount/AP_Mount_Backend.cpp
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@ -61,15 +61,17 @@ void AP_Mount_Backend::control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_
break;
// set lat, lon, alt position targets from mavlink message
case MAV_MOUNT_MODE_GPS_POINT:
Location target_location;
memset(&target_location, 0, sizeof(target_location));
target_location.lat = pitch_or_lat;
target_location.lng = roll_or_lon;
target_location.alt = yaw_or_alt;
target_location.relative_alt = true;
case MAV_MOUNT_MODE_GPS_POINT: {
const Location target_location{
pitch_or_lat,
roll_or_lon,
yaw_or_alt,
Location::ALT_FRAME_ABOVE_HOME
};
set_roi_target(target_location);
break;
}
default:
// do nothing