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vmount: fix mavlink input: angles are given in deg

This commit is contained in:
Beat Küng 2016-09-19 08:03:02 +02:00
parent ead9b2111c
commit 69865e4e04
1 changed files with 4 additions and 3 deletions
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7
src/drivers/vmount/input_mavlink.cpp
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@ -46,6 +46,7 @@
#include <uORB/topics/position_setpoint_triplet.h>
#include <drivers/drv_hrt.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <errno.h>
@ -257,9 +258,9 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
_control_data.type_data.angle.is_speed[0] = false;
_control_data.type_data.angle.is_speed[1] = false;
_control_data.type_data.angle.is_speed[2] = false;
_control_data.type_data.angle.angles[0] = vehicle_command.param1;
_control_data.type_data.angle.angles[1] = vehicle_command.param2;
_control_data.type_data.angle.angles[2] = vehicle_command.param3;
_control_data.type_data.angle.angles[0] = vehicle_command.param1 * M_DEG_TO_RAD_F;
_control_data.type_data.angle.angles[1] = vehicle_command.param2 * M_DEG_TO_RAD_F;
_control_data.type_data.angle.angles[2] = vehicle_command.param3 * M_DEG_TO_RAD_F;
break;