From e58d72931ee3ee6a949b27a6dcf28a11aba9381e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 17 Jun 2022 16:14:11 +0900
Subject: [PATCH] AP_Mount: Solo in sysid target sets lockedToBody

Also re-order calls in home-location mode to be consistent with other modes
---
 libraries/AP_Mount/AP_Mount_SoloGimbal.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
index 07a18e0c46..b9eb258bd5 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
@@ -73,17 +73,18 @@ void AP_Mount_SoloGimbal::update()
             break;
 
         case MAV_MOUNT_MODE_HOME_LOCATION:
+            _gimbal.set_lockedToBody(false);
             // constantly update the home location:
             if (!AP::ahrs().home_is_set()) {
                 break;
             }
             _state._roi_target = AP::ahrs().get_home();
             _state._roi_target_set = true;
-            _gimbal.set_lockedToBody(false);
             UNUSED_RESULT(calc_angle_to_roi_target(_angle_ef_target_rad, true, true, true));
             break;
 
         case MAV_MOUNT_MODE_SYSID_TARGET:
+            _gimbal.set_lockedToBody(false);
             UNUSED_RESULT(calc_angle_to_sysid_target(_angle_ef_target_rad, true, true, true));
             break;