From 8ad9a499001b6ffa0e02191f4580a5d7768834a6 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 22 Feb 2020 12:23:07 +0900 Subject: [PATCH] AP_Mount: ignore rc trim when calculating desired mount angles --- libraries/AP_Mount/AP_Mount_Backend.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp index 31fe4d5599..0bb004d344 100644 --- a/libraries/AP_Mount/AP_Mount_Backend.cpp +++ b/libraries/AP_Mount/AP_Mount_Backend.cpp @@ -138,7 +138,7 @@ void AP_Mount_Backend::update_targets_from_rc() // returns the angle (radians) that the RC_Channel input is receiving float AP_Mount_Backend::angle_input_rad(const RC_Channel* rc, int16_t angle_min, int16_t angle_max) { - return radians(((rc->norm_input() + 1.0f) * 0.5f * (angle_max - angle_min) + angle_min)*0.01f); + return radians(((rc->norm_input_ignore_trim() + 1.0f) * 0.5f * (angle_max - angle_min) + angle_min)*0.01f); } bool AP_Mount_Backend::calc_angle_to_roi_target(Vector3f& angles_to_target_rad,