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VMount: Fix interface spec with respect to MAVLink / vehicle command interface

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Lorenz Meier
2017-04-22 18:20:07 +02:00
parent 3d65fcc875
commit f7469581b9
1 changed files with 5 additions and 2 deletions
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7
src/drivers/vmount/input_mavlink.cpp
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@@ -244,8 +244,11 @@ 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 * M_DEG_TO_RAD_F;
_control_data.type_data.angle.angles[1] = vehicle_command.param2 * M_DEG_TO_RAD_F;
// vmount spec has roll on channel 0, MAVLink spec has pitch on channel 0
_control_data.type_data.angle.angles[0] = vehicle_command.param2 * M_DEG_TO_RAD_F;
// vmount spec has pitch on channel 1, MAVLink spec has roll on channel 1
_control_data.type_data.angle.angles[1] = vehicle_command.param1 * M_DEG_TO_RAD_F;
// both specs have yaw on channel 2
_control_data.type_data.angle.angles[2] = vehicle_command.param3 * M_DEG_TO_RAD_F;
*control_data = &_control_data;