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AP_Mount_Alexmos : make sure get_angles is called to get the real angles from the gimbal

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get_angles calls the Alexmos API to get the current angles. It was not being called before.
This commit is contained in:
Matthias Badaire 2015-01-16 09:19:24 +01:00 committed by Andrew Tridgell
parent 0b88f15a37
commit 1e5ddf3ce7
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_Mount/AP_Mount_Alexmos.cpp
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@ -81,6 +81,7 @@ void AP_Mount_Alexmos::set_mode(enum MAV_MOUNT_MODE mode)
// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_Alexmos::status_msg(mavlink_channel_t chan)
{
get_angles();
mavlink_msg_mount_status_send(chan, 0, 0, _current_angle.x*100, _current_angle.y*100, _current_angle.z*100);
}
@ -121,6 +122,9 @@ void AP_Mount_Alexmos::get_boardinfo(){
send_command (CMD_BOARD_INFO, data , 1);
}
/*
control_axis : send new angles to the gimbal at a fixed speed of 30 deg/s2
*/
void AP_Mount_Alexmos::control_axis(const Vector3f& angle, bool target_in_degrees ){