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AP_Mount: storm integrates find_by_mavtype_and_compid

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Note that this forces users to set their gimbal's component id while before any component id was acceptable
This commit is contained in:
olliw42 2022-09-07 17:37:56 +09:00 committed by Randy Mackay
parent 7c9b487779
commit 64b1277a66
1 changed files with 4 additions and 1 deletions
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libraries/AP_Mount/AP_Mount_SToRM32.cpp
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@ -136,7 +136,10 @@ void AP_Mount_SToRM32::find_gimbal()
return;
}
if (GCS_MAVLINK::find_by_mavtype(MAV_TYPE_GIMBAL, _sysid, _compid, _chan)) {
// we expect that instance 0 has compid = MAV_COMP_ID_GIMBAL, instance 1 has compid = MAV_COMP_ID_GIMBAL2, etc
uint8_t compid = (_instance == 0) ? MAV_COMP_ID_GIMBAL : MAV_COMP_ID_GIMBAL2 + (_instance - 1);
if (GCS_MAVLINK::find_by_mavtype_and_compid(MAV_TYPE_GIMBAL, compid, _sysid, _chan)) {
_compid = compid;
_initialised = true;
}
}