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AP_Mount: do-gimbal-manager-pitch-yaw can set lock state

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Co-authored-by: davidsastresas <davidsastresas@gmail.com>
This commit is contained in:
Randy Mackay 2024-03-20 09:43:39 +09:00
parent ce1e5481c8
commit 977dc2fde0
1 changed files with 12 additions and 0 deletions
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12
libraries/AP_Mount/AP_Mount.cpp
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@ -358,6 +358,12 @@ MAV_RESULT AP_Mount::handle_command_do_gimbal_manager_pitchyaw(const mavlink_com
return MAV_RESULT_ACCEPTED;
}
// if neither angles nor rates were provided set the RC_TARGETING yaw lock state
if (isnan(pitch_angle_deg) && isnan(yaw_angle_deg) && isnan(pitch_rate_degs) && isnan(yaw_rate_degs)) {
backend->set_yaw_lock(flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;
}
@ -498,6 +504,12 @@ void AP_Mount::handle_gimbal_manager_set_pitchyaw(const mavlink_message_t &msg)
backend->set_rate_target(0, pitch_rate_degs, yaw_rate_degs, flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return;
}
// if neither angles nor rates were provided set the RC_TARGETING yaw lock state
if (isnan(packet.pitch) && isnan(packet.yaw) && isnan(packet.pitch_rate) && isnan(packet.yaw_rate)) {
backend->set_yaw_lock(flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return;
}
}
MAV_RESULT AP_Mount::handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet)