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AP_Mount: correct status_msg to conform to MAVLink specification

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Jonathan Challinger 2015-02-20 11:21:45 -08:00 committed by Randy Mackay
parent 74ef1b8d2f
commit 7b0e806db1
3 changed files with 3 additions and 3 deletions
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2
libraries/AP_Mount/AP_Mount_Alexmos.cpp
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@ -77,7 +77,7 @@ void AP_Mount_Alexmos::set_mode(enum MAV_MOUNT_MODE mode)
void AP_Mount_Alexmos::status_msg(mavlink_channel_t chan) void AP_Mount_Alexmos::status_msg(mavlink_channel_t chan)
{ {
get_angles(); get_angles();
mavlink_msg_mount_status_send(chan, 0, 0, _current_angle.x*100, _current_angle.y*100, _current_angle.z*100); mavlink_msg_mount_status_send(chan, 0, 0, _current_angle.y*100, _current_angle.x*100, _current_angle.z*100);
} }
/* /*

2
libraries/AP_Mount/AP_Mount_SToRM32.cpp
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@ -110,7 +110,7 @@ void AP_Mount_SToRM32::set_mode(enum MAV_MOUNT_MODE mode)
void AP_Mount_SToRM32::status_msg(mavlink_channel_t chan) void AP_Mount_SToRM32::status_msg(mavlink_channel_t chan)
{ {
// return target angles as gimbal's actual attitude. To-Do: retrieve actual gimbal attitude and send these instead // return target angles as gimbal's actual attitude. To-Do: retrieve actual gimbal attitude and send these instead
mavlink_msg_mount_status_send(chan, 0, 0, ToDeg(_angle_ef_target_rad.x)*100, ToDeg(_angle_ef_target_rad.y)*100, ToDeg(_angle_ef_target_rad.z)*100); mavlink_msg_mount_status_send(chan, 0, 0, ToDeg(_angle_ef_target_rad.y)*100, ToDeg(_angle_ef_target_rad.x)*100, ToDeg(_angle_ef_target_rad.z)*100);
} }
// send_do_mount_control - send a COMMAND_LONG containing a do_mount_control message // send_do_mount_control - send a COMMAND_LONG containing a do_mount_control message

2
libraries/AP_Mount/AP_Mount_Servo.cpp
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@ -117,7 +117,7 @@ void AP_Mount_Servo::check_servo_map()
// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message // status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_Servo::status_msg(mavlink_channel_t chan) void AP_Mount_Servo::status_msg(mavlink_channel_t chan)
{ {
mavlink_msg_mount_status_send(chan, 0, 0, _angle_bf_output_deg.x*100, _angle_bf_output_deg.y*100, _angle_bf_output_deg.z*100); mavlink_msg_mount_status_send(chan, 0, 0, _angle_bf_output_deg.y*100, _angle_bf_output_deg.x*100, _angle_bf_output_deg.z*100);
} }
// stabilize - stabilizes the mount relative to the Earth's frame // stabilize - stabilizes the mount relative to the Earth's frame