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Copter: do-mount-control commands ignored if no mount #16864

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merged 1 commit into from
Mar 16, 2021
Merged

Copter: do-mount-control commands ignored if no mount #16864

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15 changes: 9 additions & 6 deletions ArduCopter/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -685,15 +685,17 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i

MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_long_t &packet)
{
// if the mount doesn't do pan control then yaw the entire vehicle instead:
switch (packet.command) {
#if HAL_MOUNT_ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
if (!copter.camera_mount.has_pan_control()) {
// if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) &&
!copter.camera_mount.has_pan_control()) {
copter.flightmode->auto_yaw.set_fixed_yaw(
(float)packet.param3 * 0.01f,
0.0f,
0,0);
0,
false);
}
break;
#endif
Expand Down Expand Up @@ -955,13 +957,14 @@ void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg)
switch (msg.msgid) {
#if HAL_MOUNT_ENABLED
case MAVLINK_MSG_ID_MOUNT_CONTROL:
if (!copter.camera_mount.has_pan_control()) {
// if the mount doesn't do pan control then yaw the entire vehicle instead:
// if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) &&
!copter.camera_mount.has_pan_control()) {
Comment on lines +961 to +962
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Suggested change
if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) &&
!copter.camera_mount.has_pan_control()) {
if ((copter.camera_mount.get_mount_type() == copter.camera_mount.MountType::Mount_Type_None)) {
return;
}
if (!copter.camera_mount.has_pan_control()) {

copter.flightmode->auto_yaw.set_fixed_yaw(
mavlink_msg_mount_control_get_input_c(&msg) * 0.01f,
0.0f,
0,
0);
false);

break;
}
Expand Down
7 changes: 5 additions & 2 deletions ArduCopter/mode_auto.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1452,9 +1452,12 @@ void ModeAuto::do_roi(const AP_Mission::Mission_Command& cmd)
void ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd)
{
#if HAL_MOUNT_ENABLED
if (!copter.camera_mount.has_pan_control()) {
auto_yaw.set_fixed_yaw(cmd.content.mount_control.yaw,0.0f,0,0);
// if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) &&
!copter.camera_mount.has_pan_control()) {
auto_yaw.set_fixed_yaw(cmd.content.mount_control.yaw,0.0f,0,false);
}
// pass the target angles to the camera mount
copter.camera_mount.set_angle_targets(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw);
#endif
}
Expand Down