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COPTER: Fix MOUNT_CONTROL yaw in guided

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If the mount instance does not support yaw/pan, the copter needs to yaw in
response to MSG_MOUNT_CONTROL and MAV_COMMAND_DO_MOUNT_CONTROL commands from
a GCS or co-computer. There was no checking for mount pan in the GCS_Mavlink
logic.  As such, no yaw takes place when a mount control command calls for it.
This patch impliments copter yaw control for both MSG_MOUNT_CONTROL and
MAV_COMMAND_DO_MOUNT_CONTROL in copter GCS_Mavlink.
This commit is contained in:
Matt 2017-12-20 16:59:49 -05:00 committed by Randy Mackay
parent 0e6fc54a0e
commit c0f0e3eca3
1 changed files with 6 additions and 0 deletions
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6
ArduCopter/GCS_Mavlink.cpp
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@ -1016,6 +1016,9 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
case MAV_CMD_DO_MOUNT_CONTROL: case MAV_CMD_DO_MOUNT_CONTROL:
#if MOUNT == ENABLED #if MOUNT == ENABLED
if(!copter.camera_mount.has_pan_control()) {
copter.set_auto_yaw_look_at_heading((float)packet.param3 / 100.0f,0.0f,0,0);
}
copter.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7); copter.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
#endif #endif
@ -1655,6 +1658,9 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
break; break;
//deprecated. Use MAV_CMD_DO_MOUNT_CONTROL //deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
case MAVLINK_MSG_ID_MOUNT_CONTROL: case MAVLINK_MSG_ID_MOUNT_CONTROL:
if(!copter.camera_mount.has_pan_control()) {
copter.set_auto_yaw_look_at_heading(mavlink_msg_mount_control_get_input_c(msg)/100.0f, 0.0f, 0, 0);
}
copter.camera_mount.control_msg(msg); copter.camera_mount.control_msg(msg);
break; break;
#endif // MOUNT == ENABLED #endif // MOUNT == ENABLED