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GCS_MAVlink: send_autopilot_state_for_gimbal_device sends ef z-axis rate target

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Randy Mackay 2023-01-06 16:58:27 +09:00 committed by Andrew Tridgell
parent 3763fd8121
commit d946fc59da
1 changed files with 4 additions and 4 deletions
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8
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -5311,11 +5311,11 @@ void GCS_MAVLINK::send_autopilot_state_for_gimbal_device() const
vel.zero();
}
// get vehicle body-frame rotation rate targets
Vector3f rate_bf_targets;
// get vehicle earth-frame rotation rate targets
Vector3f rate_ef_targets;
const AP_Vehicle *vehicle = AP::vehicle();
if (vehicle != nullptr) {
vehicle->get_rate_bf_targets(rate_bf_targets);
vehicle->get_rate_ef_targets(rate_ef_targets);
}
// get estimator flags
@ -5336,7 +5336,7 @@ void GCS_MAVLINK::send_autopilot_state_for_gimbal_device() const
vel.y, // y speed in NED (m/s)
vel.z, // z speed in NED (m/s)
0, // velocity estimated delay in micros
rate_bf_targets.z,// feed forward angular velocity z
rate_ef_targets.z, // feed forward angular velocity z
est_status_flags, // estimator status
0); // landed_state (see MAV_LANDED_STATE)
}