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AP_Mount: SToRM32_serial provides calc_angle_to_xxx relative_pan argument

This commit is contained in:
Randy Mackay 2022-06-17 15:57:24 +09:00
parent 5958bced0c
commit e8ab4eb8b7
1 changed files with 3 additions and 5 deletions
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8
libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
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@ -76,7 +76,7 @@ void AP_Mount_SToRM32_serial::update()
// point mount to a GPS point given by the mission planner
case MAV_MOUNT_MODE_GPS_POINT:
if (calc_angle_to_roi_target(_angle_ef_target_rad, true, true)) {
if (calc_angle_to_roi_target(_angle_ef_target_rad, true, true, true)) {
resend_now = true;
}
break;
@ -88,15 +88,13 @@ void AP_Mount_SToRM32_serial::update()
}
_state._roi_target = AP::ahrs().get_home();
_state._roi_target_set = true;
if (calc_angle_to_roi_target(_angle_ef_target_rad, true, true)) {
if (calc_angle_to_roi_target(_angle_ef_target_rad, true, true, true)) {
resend_now = true;
}
break;
case MAV_MOUNT_MODE_SYSID_TARGET:
if (calc_angle_to_sysid_target(_angle_ef_target_rad,
true,
true)) {
if (calc_angle_to_sysid_target(_angle_ef_target_rad, true, true, true)) {
resend_now = true;
}
break;