AP_Mount: prototype code to send biases

2015-01-30 17:46:07 +11:00 · 2015-01-30 17:46:07 +11:00 · 79017096e2
commit 79017096e2
parent 9bdefd0bba
1 changed files with 10 additions and 0 deletions
--- a/libraries/AP_Mount/AP_Mount_MAVLink.cpp
+++ b/libraries/AP_Mount/AP_Mount_MAVLink.cpp
@ -176,6 +176,16 @@ void AP_Mount_MAVLink::handle_gimbal_report(mavlink_channel_t chan, mavlink_mess
                          _gimbal_report.joint_pitch,
                          _gimbal_report.joint_yaw);
    _ekf.RunEKF(_gimbal_report.delta_time, delta_angles, delta_velocity, joint_angles);
+
+#if 0
+    Vector3f bias;
+    _ekf.getBias(bias);
+    mavlink_msg_gimbal_control_send(chan, 
+                                    msg->sysid,
+                                    msg->compid,
+                                    0, 0, 0, // demanded rates
+                                    bias.x, bias.y, bias.z);
+#endif
 }

 /*