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AP_Scripting: mount-djirs2 yaw angle reporting fix

This commit is contained in:
Thomas Watson 2023-12-04 12:43:42 +09:00 committed by Peter Barker
parent b507075701
commit 95033b2ef5
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
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@ -673,6 +673,10 @@ function parse_byte(b)
local yaw_deg = int16_value(parse_buff[yaw_field+1],parse_buff[yaw_field]) * 0.1
local pitch_deg = int16_value(parse_buff[pitch_field+1],parse_buff[pitch_field]) * 0.1
local roll_deg = int16_value(parse_buff[roll_field+1],parse_buff[roll_field]) * 0.1
-- if upsidedown, subtract 180deg from yaw to undo addition of target
if DJIR_UPSIDEDOWN:get() > 0 then
yaw_deg = wrap_180(yaw_deg - 180)
end
mount:set_attitude_euler(MOUNT_INSTANCE, roll_deg, pitch_deg, yaw_deg)
if DJIR_DEBUG:get() > 1 then
gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: roll:%4.1f pitch:%4.1f yaw:%4.1f", roll_deg, pitch_deg, yaw_deg))