mission block: acquire gimbal control also for gimbal v2 protocol

2023-07-19 17:17:14 +02:00
1 changed files with 3 additions and 2 deletions
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@ -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();
 		}