mirror of https://github.com/ArduPilot/ardupilot
AP_Mount: mark gimbal channel as private
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1e354d53c9
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@ -51,6 +51,8 @@ void SoloGimbal::receive_feedback(mavlink_channel_t chan, const mavlink_message_
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if (report_msg.target_system != 1) {
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if (report_msg.target_system != 1) {
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_state = GIMBAL_STATE_NOT_PRESENT;
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_state = GIMBAL_STATE_NOT_PRESENT;
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} else {
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GCS_MAVLINK::set_channel_private(chan);
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}
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}
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switch(_state) {
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switch(_state) {
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@ -111,8 +113,10 @@ void SoloGimbal::send_controls(mavlink_channel_t chan)
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if (_ang_vel_dem_radsLen > radians(400)) {
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if (_ang_vel_dem_radsLen > radians(400)) {
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_ang_vel_dem_rads *= radians(400)/_ang_vel_dem_radsLen;
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_ang_vel_dem_rads *= radians(400)/_ang_vel_dem_radsLen;
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}
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}
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if (HAVE_PAYLOAD_SPACE(chan, GIMBAL_CONTROL)) {
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mavlink_msg_gimbal_control_send(chan, mavlink_system.sysid, _compid,
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mavlink_msg_gimbal_control_send(chan, mavlink_system.sysid, _compid,
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_ang_vel_dem_rads.x, _ang_vel_dem_rads.y, _ang_vel_dem_rads.z);
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_ang_vel_dem_rads.x, _ang_vel_dem_rads.y, _ang_vel_dem_rads.z);
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}
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break;
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break;
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}
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}
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case GIMBAL_MODE_STABILIZE: {
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case GIMBAL_MODE_STABILIZE: {
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@ -124,8 +128,10 @@ void SoloGimbal::send_controls(mavlink_channel_t chan)
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if (ang_vel_dem_norm > radians(400)) {
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if (ang_vel_dem_norm > radians(400)) {
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_ang_vel_dem_rads *= radians(400)/ang_vel_dem_norm;
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_ang_vel_dem_rads *= radians(400)/ang_vel_dem_norm;
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}
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}
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if (HAVE_PAYLOAD_SPACE(chan, GIMBAL_CONTROL)) {
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mavlink_msg_gimbal_control_send(chan, mavlink_system.sysid, _compid,
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mavlink_msg_gimbal_control_send(chan, mavlink_system.sysid, _compid,
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_ang_vel_dem_rads.x, _ang_vel_dem_rads.y, _ang_vel_dem_rads.z);
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_ang_vel_dem_rads.x, _ang_vel_dem_rads.y, _ang_vel_dem_rads.z);
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}
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break;
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break;
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}
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}
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default:
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default:
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