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AP_Mount: change type of roi_target_set to boolean

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Peter Barker 2019-11-06 10:16:22 +11:00 committed by Randy Mackay
parent 5d4ce9894f
commit 7b32f2876e
2 changed files with 3 additions and 3 deletions
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2
libraries/AP_Mount/AP_Mount.h
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@ -171,7 +171,7 @@ protected:
MAV_MOUNT_MODE _mode; // current mode (see MAV_MOUNT_MODE enum)
struct Location _roi_target; // roi target location
uint32_t _roi_target_set_ms;
bool _roi_target_set;
uint8_t _target_sysid; // sysid to track
Location _target_sysid_location; // sysid target location

4
libraries/AP_Mount/AP_Mount_Backend.cpp
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@ -20,7 +20,7 @@ void AP_Mount_Backend::set_roi_target(const struct Location &target_loc)
{
// set the target gps location
_state._roi_target = target_loc;
_state._roi_target_set_ms = AP_HAL::millis();
_state._roi_target_set = true;
// set the mode to GPS tracking mode
_frontend.set_mode(_instance, MAV_MOUNT_MODE_GPS_POINT);
@ -146,7 +146,7 @@ bool AP_Mount_Backend::calc_angle_to_roi_target(Vector3f& angles_to_target_rad,
bool calc_pan,
bool relative_pan) const
{
if (_state._roi_target_set_ms == 0) {
if (!_state._roi_target_set) {
return false;
}
return calc_angle_to_location(_state._roi_target, angles_to_target_rad, calc_tilt, calc_pan, relative_pan);