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AP_Mount: fixup handle do-gimbal-manager-pitchyaw flags

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This commit is contained in:
Randy Mackay 2022-06-28 10:08:17 +09:00
parent 3b0869d098
commit f03ac3648d
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Mount/AP_Mount.cpp
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@ -648,7 +648,7 @@ MAV_RESULT AP_Mount::handle_command_do_gimbal_manager_pitchyaw(const mavlink_com
} }
// check flags for change to RETRACT // check flags for change to RETRACT
uint8_t flags = (uint8_t)packet.param5; uint32_t flags = (uint32_t)packet.param5;
if ((flags & GIMBAL_MANAGER_FLAGS_RETRACT) > 0) { if ((flags & GIMBAL_MANAGER_FLAGS_RETRACT) > 0) {
_backends[_primary]->set_mode(MAV_MOUNT_MODE_RETRACT); _backends[_primary]->set_mode(MAV_MOUNT_MODE_RETRACT);
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
@ -666,7 +666,7 @@ MAV_RESULT AP_Mount::handle_command_do_gimbal_manager_pitchyaw(const mavlink_com
const float pitch_angle_deg = packet.param1; const float pitch_angle_deg = packet.param1;
const float yaw_angle_deg = packet.param2; const float yaw_angle_deg = packet.param2;
if (!isnan(pitch_angle_deg) && !isnan(yaw_angle_deg)) { if (!isnan(pitch_angle_deg) && !isnan(yaw_angle_deg)) {
set_angle_target(0, pitch_angle_deg, yaw_angle_deg, (uint32_t)packet.param5 & GIMBAL_MANAGER_FLAGS_YAW_LOCK); set_angle_target(0, pitch_angle_deg, yaw_angle_deg, flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
@ -675,7 +675,7 @@ MAV_RESULT AP_Mount::handle_command_do_gimbal_manager_pitchyaw(const mavlink_com
const float pitch_rate_degs = packet.param3; const float pitch_rate_degs = packet.param3;
const float yaw_rate_degs = packet.param4; const float yaw_rate_degs = packet.param4;
if (!isnan(pitch_rate_degs) && !isnan(yaw_rate_degs)) { if (!isnan(pitch_rate_degs) && !isnan(yaw_rate_degs)) {
set_rate_target(0, pitch_rate_degs, yaw_rate_degs, (uint32_t)packet.param5 & GIMBAL_MANAGER_FLAGS_YAW_LOCK); set_rate_target(0, pitch_rate_degs, yaw_rate_degs, flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }