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AP_Mount: clarify yaw_lock comments

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Randy Mackay 2024-03-19 19:36:38 +09:00 committed by Andrew Tridgell
parent 4755a60863
commit d0d33b0b36
3 changed files with 4 additions and 4 deletions
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2
libraries/AP_Mount/AP_Mount.cpp
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@ -249,7 +249,7 @@ void AP_Mount::set_mode(uint8_t instance, enum MAV_MOUNT_MODE mode)
backend->set_mode(mode); backend->set_mode(mode);
} }
// set yaw_lock. If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North) // set yaw_lock used in RC_TARGETING mode. If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North)
// If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle // If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle
void AP_Mount::set_yaw_lock(uint8_t instance, bool yaw_lock) void AP_Mount::set_yaw_lock(uint8_t instance, bool yaw_lock)
{ {

2
libraries/AP_Mount/AP_Mount.h
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@ -151,7 +151,7 @@ public:
void set_mode_to_default() { set_mode_to_default(_primary); } void set_mode_to_default() { set_mode_to_default(_primary); }
void set_mode_to_default(uint8_t instance); void set_mode_to_default(uint8_t instance);
// set yaw_lock. If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North) // set yaw_lock used in RC_TARGETING mode. If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North)
// If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle // If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle
void set_yaw_lock(bool yaw_lock) { set_yaw_lock(_primary, yaw_lock); } void set_yaw_lock(bool yaw_lock) { set_yaw_lock(_primary, yaw_lock); }
void set_yaw_lock(uint8_t instance, bool yaw_lock); void set_yaw_lock(uint8_t instance, bool yaw_lock);

4
libraries/AP_Mount/AP_Mount_Backend.h
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@ -79,7 +79,7 @@ public:
// set mount's mode // set mount's mode
bool set_mode(enum MAV_MOUNT_MODE mode); bool set_mode(enum MAV_MOUNT_MODE mode);
// set yaw_lock. If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North) // set yaw_lock used in RC_TARGETING mode. If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North)
// If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle // If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle
void set_yaw_lock(bool yaw_lock) { _yaw_lock = yaw_lock; } void set_yaw_lock(bool yaw_lock) { _yaw_lock = yaw_lock; }
@ -298,7 +298,7 @@ protected:
uint8_t _instance; // this instance's number uint8_t _instance; // this instance's number
MAV_MOUNT_MODE _mode; // current mode (see MAV_MOUNT_MODE enum) MAV_MOUNT_MODE _mode; // current mode (see MAV_MOUNT_MODE enum)
bool _yaw_lock; // True if the gimbal's yaw target is maintained in earth-frame, if false (aka "follow") it is maintained in body-frame bool _yaw_lock; // yaw_lock used in RC_TARGETING mode. True if the gimbal's yaw target is maintained in earth-frame, if false (aka "follow") it is maintained in body-frame
// structure for MAVLink Targeting angle and rate targets // structure for MAVLink Targeting angle and rate targets
struct { struct {