From 117d99045d942874b9869cc3b63855223f1c9c0a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 1 Aug 2023 13:37:19 +1000 Subject: [PATCH] AP_Mount: correct ViewPro compilation under g++-7.5.0 non-trivial designators not implemented --- libraries/AP_Mount/AP_Mount_Viewpro.cpp | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/libraries/AP_Mount/AP_Mount_Viewpro.cpp b/libraries/AP_Mount/AP_Mount_Viewpro.cpp index 2850612efc..7144d6ded4 100644 --- a/libraries/AP_Mount/AP_Mount_Viewpro.cpp +++ b/libraries/AP_Mount/AP_Mount_Viewpro.cpp @@ -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