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AP_Mount: correct ViewPro compilation under g++-7.5.0

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non-trivial designators not implemented
This commit is contained in:
Peter Barker 2023-08-01 13:37:19 +10:00 committed by Randy Mackay
parent 50dc591b55
commit 117d99045d
1 changed files with 7 additions and 8 deletions
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15
libraries/AP_Mount/AP_Mount_Viewpro.cpp
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@ -627,14 +627,12 @@ bool AP_Mount_Viewpro::send_tracking_command(TrackingCommand cmd, uint8_t value)
}
// fill in packet
const E1Packet e1_packet {
.content = {
frame_id: FrameId::E1,
source: tracking_source,
cmd: cmd,
param2: value // normally zero
}
};
// Packet creation is done long-hand here to support g++-7.5.0
E1Packet e1_packet {};
e1_packet.content.frame_id = FrameId::E1;
e1_packet.content.source = tracking_source;
e1_packet.content.cmd = cmd;
e1_packet.content.param2 = value; // normally zero
// send packet to gimbal
return send_packet(e1_packet.bytes, sizeof(e1_packet.bytes));
@ -692,6 +690,7 @@ bool AP_Mount_Viewpro::send_m_ahrs()
.content = {
frame_id: FrameId::M_AHRS,
data_type: 0x07, // Bit0: Attitude, Bit1: GPS, Bit2 Gyro
unused2to8 : {0, 0, 0, 0, 0, 0, 0},
pitch_be: htobe16(-degrees(AP::ahrs().get_pitch()) * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT), // vehicle pitch angle. 1bit=360deg/65536
roll_be: htobe16(degrees(AP::ahrs().get_roll()) * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT), // vehicle roll angle. 1bit=360deg/65536
yaw_be: htobe16(veh_yaw_deg * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT), // vehicle yaw angle. 1bit=360deg/65536