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AP_Mount: fix GIMBAL_MANAGER_SET_PITCHYAW not working correctly when using multiple gimbals

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
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4
libraries/AP_Mount/AP_Mount.cpp
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@ -486,7 +486,7 @@ void AP_Mount::handle_command_gimbal_manager_set_pitchyaw(const mavlink_message_
if (!isnan(packet.pitch) && !isnan(packet.yaw)) {
const float pitch_angle_deg = degrees(packet.pitch);
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;
}
@ -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)) {
const float pitch_rate_degs = degrees(packet.pitch_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;
}
}