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AP_Mount: Do not override default mode when first connecting to RC

This commit is contained in:
Tim Tuxworth 2024-04-09 18:06:35 -06:00 committed by Randy Mackay
parent 860498d30e
commit 495726344c
2 changed files with 10 additions and 2 deletions
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11
libraries/AP_Mount/AP_Mount_Backend.cpp
View File

@ -618,6 +618,13 @@ void AP_Mount_Backend::set_rctargeting_on_rcinput_change()
const int16_t pitch_in = (pitch_ch == nullptr) ? 0 : pitch_ch->get_radio_in(); const int16_t pitch_in = (pitch_ch == nullptr) ? 0 : pitch_ch->get_radio_in();
const int16_t yaw_in = (yaw_ch == nullptr) ? 0 : yaw_ch->get_radio_in(); const int16_t yaw_in = (yaw_ch == nullptr) ? 0 : yaw_ch->get_radio_in();
if (!last_rc_input.initialised) {
// The first time through, initial RC inputs should be set, but not used
last_rc_input.initialised = true;
last_rc_input.roll_in = roll_in;
last_rc_input.pitch_in = pitch_in;
last_rc_input.yaw_in = yaw_in;
}
// if not in RC_TARGETING or RETRACT modes then check for RC change // if not in RC_TARGETING or RETRACT modes then check for RC change
if (get_mode() != MAV_MOUNT_MODE_RC_TARGETING && get_mode() != MAV_MOUNT_MODE_RETRACT) { if (get_mode() != MAV_MOUNT_MODE_RC_TARGETING && get_mode() != MAV_MOUNT_MODE_RETRACT) {
// get dead zones // get dead zones
@ -629,11 +636,11 @@ void AP_Mount_Backend::set_rctargeting_on_rcinput_change()
if ((abs(last_rc_input.roll_in - roll_in) > roll_dz) || if ((abs(last_rc_input.roll_in - roll_in) > roll_dz) ||
(abs(last_rc_input.pitch_in - pitch_in) > pitch_dz) || (abs(last_rc_input.pitch_in - pitch_in) > pitch_dz) ||
(abs(last_rc_input.yaw_in - yaw_in) > yaw_dz)) { (abs(last_rc_input.yaw_in - yaw_in) > yaw_dz)) {
set_mode(MAV_MOUNT_MODE_RC_TARGETING); set_mode(MAV_MOUNT_MODE_RC_TARGETING);
} }
} }
// if in RC_TARGETING or RETRACT mode then store last RC input // if NOW in RC_TARGETING or RETRACT mode then store last RC input (mode might have changed)
if (get_mode() == MAV_MOUNT_MODE_RC_TARGETING || get_mode() == MAV_MOUNT_MODE_RETRACT) { if (get_mode() == MAV_MOUNT_MODE_RC_TARGETING || get_mode() == MAV_MOUNT_MODE_RETRACT) {
last_rc_input.roll_in = roll_in; last_rc_input.roll_in = roll_in;
last_rc_input.pitch_in = pitch_in; last_rc_input.pitch_in = pitch_in;

1
libraries/AP_Mount/AP_Mount_Backend.h
View File

@ -329,6 +329,7 @@ protected:
// structure holding the last RC inputs // structure holding the last RC inputs
struct { struct {
bool initialised;
int16_t roll_in; int16_t roll_in;
int16_t pitch_in; int16_t pitch_in;
int16_t yaw_in; int16_t yaw_in;