Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Mount_SToRM: slow updates to 10hz, reverse yaw, pitch

Browse Source
This commit is contained in:
Randy Mackay 2015-03-20 20:35:02 +09:00
parent ab542de769
commit d2739c5ce5
1 changed files with 12 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/AP_Mount/AP_Mount_SToRM32.cpp
View File

@ -31,6 +31,14 @@ void AP_Mount_SToRM32::update()
return;
}
// throttle updates to 10hz (this assumes update is called at 50hz)
static uint8_t counter = 0;
counter++;
if (counter < 5) {
return;
}
counter = 0;
// flag to trigger sending target angles to gimbal
bool resend_now = false;
@ -121,6 +129,10 @@ void AP_Mount_SToRM32::send_do_mount_control(float pitch_deg, float roll_deg, fl
return;
}
// reverse pitch and yaw control
pitch_deg = -pitch_deg;
yaw_deg = -yaw_deg;
// send command_long command containing a do_mount_control command
mavlink_msg_command_long_send(_chan,
AP_MOUNT_STORM32_SYSID,