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Copter: restore mount's mode to default after ROI completes

This commit is contained in:
Randy Mackay 2014-03-05 16:02:14 +09:00
parent 1c457d8448
commit 6efc26d3a6
1 changed files with 7 additions and 2 deletions
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9
ArduCopter/commands_logic.pde
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@ -662,7 +662,12 @@ static void do_roi()
if (auto_yaw_mode == AUTO_YAW_ROI && (command_cond_queue.alt == 0 && command_cond_queue.lat == 0 && command_cond_queue.lng == 0)) { if (auto_yaw_mode == AUTO_YAW_ROI && (command_cond_queue.alt == 0 && command_cond_queue.lat == 0 && command_cond_queue.lng == 0)) {
// set auto yaw mode back to default assuming the active command is a waypoint command. A more sophisticated method is required to ensure we return to the proper yaw control for the active command // set auto yaw mode back to default assuming the active command is a waypoint command. A more sophisticated method is required to ensure we return to the proper yaw control for the active command
set_auto_yaw_mode(get_default_auto_yaw_mode(false)); set_auto_yaw_mode(get_default_auto_yaw_mode(false));
// To-Do: switch off the camera tracking if enabled #if MOUNT == ENABLED
// switch off the camera tracking if enabled
if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
camera_mount.set_mode_to_default();
}
#endif // MOUNT == ENABLED
}else{ }else{
#if MOUNT == ENABLED #if MOUNT == ENABLED
// check if mount type requires us to rotate the quad // check if mount type requires us to rotate the quad
@ -683,7 +688,7 @@ static void do_roi()
// if we have no camera mount aim the quad at the location // if we have no camera mount aim the quad at the location
roi_WP = pv_location_to_vector(command_cond_queue); roi_WP = pv_location_to_vector(command_cond_queue);
set_auto_yaw_mode(AUTO_YAW_ROI); set_auto_yaw_mode(AUTO_YAW_ROI);
#endif #endif // MOUNT == ENABLED
} }
} }