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AP_Mission: Set DO_MOUNT_CONTROL.mode when converting command to MAVLink

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Nick Exton 2024-05-16 11:27:05 +10:00 committed by Randy Mackay
parent 03db86427a
commit 77f1efac5e
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_Mission/AP_Mission.cpp
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@ -1251,6 +1251,7 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
break;
case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205
// TODO: this is only valid if packet.z == MAV_MOUNT_MODE_MAVLINK_TARGETING
cmd.content.mount_control.pitch = packet.param1;
cmd.content.mount_control.roll = packet.param2;
cmd.content.mount_control.yaw = packet.param3;
@ -1767,6 +1768,7 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
packet.param1 = cmd.content.mount_control.pitch;
packet.param2 = cmd.content.mount_control.roll;
packet.param3 = cmd.content.mount_control.yaw;
packet.z = MAV_MOUNT_MODE_MAVLINK_TARGETING;
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206