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Mount_MAVLink: uses vehicle's sysid

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This commit is contained in:
Randy Mackay 2015-04-20 15:59:49 +09:00
parent e726a05f3b
commit 93ba2d2d32
3 changed files with 3 additions and 5 deletions
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2
libraries/AP_Mount/AP_Gimbal.cpp
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@ -164,7 +164,7 @@ Vector3f AP_Gimbal::getGimbalRateDemVecGyroBias()
void AP_Gimbal::send_control(mavlink_channel_t chan) void AP_Gimbal::send_control(mavlink_channel_t chan)
{ {
mavlink_msg_gimbal_control_send(chan,_sysid, _compid, mavlink_msg_gimbal_control_send(chan, mavlink_system.sysid, _compid,
gimbalRateDemVec.x, gimbalRateDemVec.y, gimbalRateDemVec.z); gimbalRateDemVec.x, gimbalRateDemVec.y, gimbalRateDemVec.z);
} }

4
libraries/AP_Mount/AP_Gimbal.h
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@ -23,7 +23,7 @@ class AP_Gimbal
{ {
public: public:
//Constructor //Constructor
AP_Gimbal(const AP_AHRS_NavEKF &ahrs, uint8_t sysid, uint8_t compid, const AP_Mount::gimbal_params &gimbalParams) : AP_Gimbal(const AP_AHRS_NavEKF &ahrs, uint8_t compid, const AP_Mount::gimbal_params &gimbalParams) :
_ekf(ahrs), _ekf(ahrs),
_ahrs(ahrs), _ahrs(ahrs),
_gimbalParams(gimbalParams), _gimbalParams(gimbalParams),
@ -31,7 +31,6 @@ public:
yawRateFiltPole(10.0f), yawRateFiltPole(10.0f),
yawErrorLimit(0.1f) yawErrorLimit(0.1f)
{ {
_sysid = sysid;
_compid = compid; _compid = compid;
} }
@ -68,7 +67,6 @@ private:
// reducing this makes the gimbal respond more to vehicle yaw disturbances // reducing this makes the gimbal respond more to vehicle yaw disturbances
float const yawErrorLimit; float const yawErrorLimit;
uint8_t _sysid;
uint8_t _compid; uint8_t _compid;
void send_control(mavlink_channel_t chan); void send_control(mavlink_channel_t chan);

2
libraries/AP_Mount/AP_Mount_MAVLink.cpp
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@ -13,7 +13,7 @@
AP_Mount_MAVLink::AP_Mount_MAVLink(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance) : AP_Mount_MAVLink::AP_Mount_MAVLink(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance) :
AP_Mount_Backend(frontend, state, instance), AP_Mount_Backend(frontend, state, instance),
_initialised(false), _initialised(false),
_gimbal(frontend._ahrs, 1, MAV_COMP_ID_GIMBAL, _state._gimbalParams) _gimbal(frontend._ahrs, MAV_COMP_ID_GIMBAL, _state._gimbalParams)
{} {}
// init - performs any required initialisation for this instance // init - performs any required initialisation for this instance