Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Mount: fix for STORM32 serial ver 78e and higher 

This fixes the structs to be compatible with the changes OlliW made to
the gimbal firmware.
http://www.olliw.eu/storm32bgc-wiki/Serial_Communication
This commit is contained in:
fillycheezstake 2015-08-24 21:14:48 -04:00 committed by Randy Mackay
parent 9dfe30f514
commit b618621303
2 changed files with 4 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
View File

@ -151,11 +151,8 @@ void AP_Mount_SToRM32_serial::send_target_angles(float pitch_deg, float roll_deg
{
static cmd_set_angles_struct cmd_set_angles_data = {
0xFD,
0xFA,
0x0E,
0x00,
0x52,
0x43,
0x11,
0, // pitch
0, // roll

8
libraries/AP_Mount/AP_Mount_SToRM32_serial.h
View File

@ -113,8 +113,9 @@ private:
};
struct PACKED SToRM32_reply_ack_struct {
uint8_t magic;
uint8_t something[5];
uint8_t byte1;
uint8_t byte2;
uint8_t byte3;
uint8_t data;
uint16_t crc;
};
@ -123,9 +124,6 @@ private:
uint8_t byte1;
uint8_t byte2;
uint8_t byte3;
uint8_t byte4;
uint8_t byte5;
uint8_t byte6;
float pitch;
float roll;
float yaw;