aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Mount: default MNT_TYPE to servo gimbal if rc outputs defined

Browse Source
This commit is contained in:
Randy Mackay 2015-06-10 15:01:12 +09:00
parent 28fc981d29
commit 0b6323d5ed
1 changed files with 9 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_Mount/AP_Mount.cpp
View File

@ -483,6 +483,15 @@ void AP_Mount::init(const AP_SerialManager& serial_manager)
return;
}
// default mount to servo mount if rc output channels to control roll, tilt or pan have been defined
if (!state[0]._type.load()) {
if (RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t::k_mount_pan) ||
RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t::k_mount_tilt) ||
RC_Channel_aux::function_assigned(RC_Channel_aux::Aux_servo_function_t::k_mount_roll)) {
state[0]._type.set_and_save(Mount_Type_Servo);
}
}
// primary is reset to the first instantiated mount
bool primary_set = false;