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AP_Mount: gremsy searches for gimbal while disarmed

This commit is contained in:
Randy Mackay 2022-06-16 20:00:46 +09:00
parent a47ac7430b
commit 45cd158b1c
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Mount/AP_Mount_Gremsy.cpp
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@ -147,12 +147,13 @@ void AP_Mount_Gremsy::send_mount_status(mavlink_channel_t chan)
void AP_Mount_Gremsy::find_gimbal()
{
// do not look for gimbal for first 10 seconds so user may see banner
if (AP_HAL::millis() < 10000) {
uint32_t now_ms = AP_HAL::millis();
if (now_ms < 10000) {
return;
}
// return if search time has has passed
if (AP_HAL::millis() > AP_MOUNT_GREMSY_SEARCH_MS) {
// search for gimbal for 60 seconds or until armed
if ((now_ms > AP_MOUNT_GREMSY_SEARCH_MS) && hal.util->get_soft_armed()) {
return;
}
@ -176,7 +177,6 @@ void AP_Mount_Gremsy::find_gimbal()
// request GIMBAL_DEVICE_INFORMATION
if (!_got_device_info) {
uint32_t now_ms = AP_HAL::millis();
if (now_ms - _last_devinfo_req_ms > 1000) {
_last_devinfo_req_ms = now_ms;
request_gimbal_device_information();