Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mount: fix GIMBAL_MANAGER_SET_PITCHYAW not working correctly when using multiple gimbals

Browse Source
This commit is contained in:
Asif Khan 2023-08-03 15:26:50 +05:30 committed by Randy Mackay
parent 47977b1635
commit f26528edba
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Mount/AP_Mount.cpp
View File

@ -486,7 +486,7 @@ void AP_Mount::handle_command_gimbal_manager_set_pitchyaw(const mavlink_message_
if (!isnan(packet.pitch) && !isnan(packet.yaw)) { if (!isnan(packet.pitch) && !isnan(packet.yaw)) {
const float pitch_angle_deg = degrees(packet.pitch); const float pitch_angle_deg = degrees(packet.pitch);
const float yaw_angle_deg = degrees(packet.yaw); const float yaw_angle_deg = degrees(packet.yaw);
set_angle_target(instance, 0, pitch_angle_deg, yaw_angle_deg, flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK); backend->set_angle_target(0, pitch_angle_deg, yaw_angle_deg, flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return; return;
} }
@ -494,7 +494,7 @@ void AP_Mount::handle_command_gimbal_manager_set_pitchyaw(const mavlink_message_
if (!isnan(packet.pitch_rate) && !isnan(packet.yaw_rate)) { if (!isnan(packet.pitch_rate) && !isnan(packet.yaw_rate)) {
const float pitch_rate_degs = degrees(packet.pitch_rate); const float pitch_rate_degs = degrees(packet.pitch_rate);
const float yaw_rate_degs = degrees(packet.yaw_rate); const float yaw_rate_degs = degrees(packet.yaw_rate);
set_rate_target(instance, 0, pitch_rate_degs, yaw_rate_degs, flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK); backend->set_rate_target(0, pitch_rate_degs, yaw_rate_degs, flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return; return;
} }
} }