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Sub: calls to mount.set_angle_target set earth-frame or body-frame 

this is a non-functional change
This commit is contained in:
Randy Mackay 2022-06-21 15:00:37 +09:00
parent 8f54957530
commit d0c489a0be
3 changed files with 3 additions and 3 deletions
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2
ArduSub/commands_logic.cpp
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@ -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) void Sub::do_mount_control(const AP_Mission::Mission_Command& cmd)
{ {
#if HAL_MOUNT_ENABLED #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 #endif
} }

2
ArduSub/joystick.cpp
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@ -183,7 +183,7 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
case JSButton::button_function_t::k_mount_center: case JSButton::button_function_t::k_mount_center:
#if HAL_MOUNT_ENABLED #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! // for some reason the call to set_angle_targets changes the mode to mavlink targeting!
camera_mount.set_mode(MAV_MOUNT_MODE_RC_TARGETING); camera_mount.set_mode(MAV_MOUNT_MODE_RC_TARGETING);
#endif #endif

2
ArduSub/system.cpp
View File

@ -98,7 +98,7 @@ void Sub::init_ardupilot()
// initialise camera mount // initialise camera mount
camera_mount.init(); camera_mount.init();
// This step ncessary so the servo is properly initialized // 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! // for some reason the call to set_angle_targets changes the mode to mavlink targeting!
camera_mount.set_mode(MAV_MOUNT_MODE_RC_TARGETING); camera_mount.set_mode(MAV_MOUNT_MODE_RC_TARGETING);
#endif #endif