From d0c489a0bef43d11b85d15986216ddc78a18f0a5 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 21 Jun 2022 15:00:37 +0900 Subject: [PATCH] Sub: calls to mount.set_angle_target set earth-frame or body-frame this is a non-functional change --- ArduSub/commands_logic.cpp | 2 +- ArduSub/joystick.cpp | 2 +- ArduSub/system.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduSub/commands_logic.cpp b/ArduSub/commands_logic.cpp index 8d49c3eb43..bfeb57bc5f 100644 --- a/ArduSub/commands_logic.cpp +++ b/ArduSub/commands_logic.cpp @@ -685,6 +685,6 @@ void Sub::do_roi(const AP_Mission::Mission_Command& cmd) void Sub::do_mount_control(const AP_Mission::Mission_Command& cmd) { #if HAL_MOUNT_ENABLED - camera_mount.set_angle_targets(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw); + camera_mount.set_angle_target(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw, false); #endif } diff --git a/ArduSub/joystick.cpp b/ArduSub/joystick.cpp index d77268e7d4..bbbd19c346 100644 --- a/ArduSub/joystick.cpp +++ b/ArduSub/joystick.cpp @@ -183,7 +183,7 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held) case JSButton::button_function_t::k_mount_center: #if HAL_MOUNT_ENABLED - camera_mount.set_angle_targets(0, 0, 0); + camera_mount.set_angle_target(0, 0, 0, false); // for some reason the call to set_angle_targets changes the mode to mavlink targeting! camera_mount.set_mode(MAV_MOUNT_MODE_RC_TARGETING); #endif diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp index c0503d4e38..6cc0407cb9 100644 --- a/ArduSub/system.cpp +++ b/ArduSub/system.cpp @@ -98,7 +98,7 @@ void Sub::init_ardupilot() // initialise camera mount camera_mount.init(); // This step ncessary so the servo is properly initialized - camera_mount.set_angle_targets(0, 0, 0); + camera_mount.set_angle_target(0, 0, 0, false); // for some reason the call to set_angle_targets changes the mode to mavlink targeting! camera_mount.set_mode(MAV_MOUNT_MODE_RC_TARGETING); #endif