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AP_Mount: mark gimbal channel as private

This commit is contained in:
Andrew Tridgell 2018-11-22 10:18:11 +11:00
parent 1e354d53c9
commit f6d564599e
1 changed files with 10 additions and 4 deletions
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14
libraries/AP_Mount/SoloGimbal.cpp
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@ -51,6 +51,8 @@ void SoloGimbal::receive_feedback(mavlink_channel_t chan, const mavlink_message_
if (report_msg.target_system != 1) {
_state = GIMBAL_STATE_NOT_PRESENT;
} else {
GCS_MAVLINK::set_channel_private(chan);
}
switch(_state) {
@ -111,8 +113,10 @@ void SoloGimbal::send_controls(mavlink_channel_t chan)
if (_ang_vel_dem_radsLen > radians(400)) {
_ang_vel_dem_rads *= radians(400)/_ang_vel_dem_radsLen;
}
mavlink_msg_gimbal_control_send(chan, mavlink_system.sysid, _compid,
_ang_vel_dem_rads.x, _ang_vel_dem_rads.y, _ang_vel_dem_rads.z);
if (HAVE_PAYLOAD_SPACE(chan, GIMBAL_CONTROL)) {
mavlink_msg_gimbal_control_send(chan, mavlink_system.sysid, _compid,
_ang_vel_dem_rads.x, _ang_vel_dem_rads.y, _ang_vel_dem_rads.z);
}
break;
}
case GIMBAL_MODE_STABILIZE: {
@ -124,8 +128,10 @@ void SoloGimbal::send_controls(mavlink_channel_t chan)
if (ang_vel_dem_norm > radians(400)) {
_ang_vel_dem_rads *= radians(400)/ang_vel_dem_norm;
}
mavlink_msg_gimbal_control_send(chan, mavlink_system.sysid, _compid,
_ang_vel_dem_rads.x, _ang_vel_dem_rads.y, _ang_vel_dem_rads.z);
if (HAVE_PAYLOAD_SPACE(chan, GIMBAL_CONTROL)) {
mavlink_msg_gimbal_control_send(chan, mavlink_system.sysid, _compid,
_ang_vel_dem_rads.x, _ang_vel_dem_rads.y, _ang_vel_dem_rads.z);
}
break;
}
default: