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AP_Mount: fixed for new GIMBAL_REPORT message

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This commit is contained in:
Andrew Tridgell 2015-04-06 16:42:23 -07:00
parent 33824e0b2f
commit df948e7358
1 changed files with 5 additions and 6 deletions
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11
libraries/AP_Mount/AP_Mount_MAVLink.cpp
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@ -112,8 +112,8 @@ void AP_Mount_MAVLink::handle_gimbal_report(mavlink_channel_t chan, mavlink_mess
_gimbal_report.delta_velocity_y,
_gimbal_report.delta_velocity_z);
Vector3f joint_angles(_gimbal_report.joint_roll,
_gimbal_report.joint_pitch,
_gimbal_report.joint_yaw);
_gimbal_report.joint_el,
_gimbal_report.joint_az);
_ekf.RunEKF(_gimbal_report.delta_time, delta_angles, delta_velocity, joint_angles);
@ -138,8 +138,7 @@ void AP_Mount_MAVLink::handle_gimbal_report(mavlink_channel_t chan, mavlink_mess
mavlink_msg_gimbal_control_send(chan,
msg->sysid,
msg->compid,
rateDemand.x, rateDemand.y, rateDemand.z, // demanded rates
gyroBias.x, gyroBias.y, gyroBias.z);
rateDemand.x, rateDemand.y, rateDemand.z);
}
/*
@ -157,8 +156,8 @@ void AP_Mount_MAVLink::send_gimbal_report(mavlink_channel_t chan)
_gimbal_report.delta_velocity_y,
_gimbal_report.delta_velocity_z,
_gimbal_report.joint_roll,
_gimbal_report.joint_pitch,
_gimbal_report.joint_yaw);
_gimbal_report.joint_el,
_gimbal_report.joint_az);
float tilt;
Vector3f velocity, euler, gyroBias;
_ekf.getDebug(tilt, velocity, euler, gyroBias);