AP_Mount: fix gimbal-device-attitude-status yaw frame flag

ArduPilot · Mar 25, 2024 · 0b77104 · 0b77104
1 parent affc1b4
commit 0b77104
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -854,6 +854,7 @@ uint16_t AP_Mount_Backend::get_gimbal_device_flags() const
                            (get_mode() == MAV_MOUNT_MODE_NEUTRAL ? GIMBAL_DEVICE_FLAGS_NEUTRAL : 0) |
                            GIMBAL_DEVICE_FLAGS_ROLL_LOCK | // roll angle is always earth-frame
                            GIMBAL_DEVICE_FLAGS_PITCH_LOCK| // pitch angle is always earth-frame, yaw_angle is always body-frame
+                           GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | // yaw angle is always in vehicle-frame
                            (yaw_lock_state ? GIMBAL_DEVICE_FLAGS_YAW_LOCK : 0);
     return flags;
 }