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AP_Scripting: mount-djirs2 driver angle reporting fix

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Randy Mackay 2023-07-21 10:25:37 +09:00 committed by Andrew Tridgell
parent 11a505f16f
commit 380c20154f
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
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@ -462,7 +462,7 @@ function send_target_angles(roll_angle_deg, pitch_angle_deg, yaw_angle_deg, time
end
-- ensure angles are integers
roll_angle_deg = -math.floor(roll_angle_deg + 0.5)
roll_angle_deg = math.floor(roll_angle_deg + 0.5)
pitch_angle_deg = math.floor(pitch_angle_deg + 0.5)
yaw_angle_deg = math.floor(yaw_angle_deg + 0.5)
time_sec = math.floor(time_sec + 0.5)
@ -657,8 +657,8 @@ function parse_byte(b)
local ret_code = parse_buff[13]
if ret_code == RETURN_CODE.SUCCESS then
local yaw_deg = int16_value(parse_buff[16],parse_buff[15]) * 0.1
local roll_deg = -int16_value(parse_buff[18],parse_buff[17]) * 0.1
local pitch_deg = int16_value(parse_buff[20],parse_buff[19]) * 0.1
local pitch_deg = int16_value(parse_buff[18],parse_buff[17]) * 0.1
local roll_deg = int16_value(parse_buff[20],parse_buff[19]) * 0.1
mount:set_attitude_euler(MOUNT_INSTANCE, roll_deg, pitch_deg, yaw_deg)
if DJIR_DEBUG:get() > 1 then
gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: roll:%4.1f pitch:%4.1f yaw:%4.1f", roll_deg, pitch_deg, yaw_deg))