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Enabled attitude compensation by default as that is all the gimbal driver is about

This commit is contained in:
Anton Matosov 2015-03-03 22:30:52 -08:00
parent db6ad147d5
commit 3db6d08b5c
1 changed files with 2 additions and 5 deletions
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7
src/drivers/gimbal/gimbal.cpp
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@ -168,7 +168,7 @@ Gimbal::Gimbal() :
CDev("Gimbal", GIMBAL_DEVICE_PATH),
_vehicle_command_sub(-1),
_att_sub(-1),
_attitude_compensation(false),
_attitude_compensation(true),
_initialized(false),
_actuator_controls_2_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "gimbal_read")),
@ -238,7 +238,6 @@ Gimbal::read(struct file *filp, char *buffer, size_t buflen)
void
Gimbal::start()
{
/* schedule a cycle to start things */
work_queue(LPWORK, &_work, (worker_t)&Gimbal::cycle_trampoline, this, 1);
}
@ -260,7 +259,6 @@ Gimbal::cycle_trampoline(void *arg)
void
Gimbal::cycle()
{
if (!_initialized) {
/* get a subscription handle on the vehicle command topic */
_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
@ -299,7 +297,6 @@ Gimbal::cycle()
pitch = -att.pitch;
updated = true;
}
struct vehicle_command_s cmd;
@ -312,7 +309,7 @@ Gimbal::cycle()
orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
//debug("cmd: %d, param1: %8.4f param2: %8.4f", (double)cmd.command, (double)cmd.param1, (double)cmd.param2);
debug("cmd: %d, param7 %d | param1: %8.4f param2: %8.4f", cmd.command, (int)cmd.param7, (double)cmd.param1, (double)cmd.param2);
if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && equal(cmd.param7, VEHICLE_MOUNT_MODE_MAVLINK_TARGETING)) {