dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

mission block: acquire gimbal control also for gimbal v2 protocol

This commit is contained in:
Thomas Stastny 2023-07-19 17:17:14 +02:00
parent ec9dce2e89
commit 310194185a
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/modules/navigator/mission_block.cpp
View File

@ -574,8 +574,9 @@ MissionBlock::issue_command(const mission_item_s &item)
} else {
// This is to support legacy DO_MOUNT_CONTROL as part of a mission.
if (item.nav_cmd == NAV_CMD_DO_MOUNT_CONTROL) {
// This is to support legacy DO_MOUNT_CONTROL and mavlink gimbal protocol v2 DO_GIMBAL_MANAGER_PITCHYAW
// as part of a mission.
if (item.nav_cmd == NAV_CMD_DO_MOUNT_CONTROL || item.nav_cmd == NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW) {
_navigator->acquire_gimbal_control();
}