From 78db6981080b842375931bacc301186883e141bc Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 18 Nov 2014 13:33:28 +1100
Subject: [PATCH] AP_Mount: allow a MOUNT_CONTROL message to reset RC
targetting
fixes issue #1617
---
libraries/AP_Mount/AP_Mount.cpp | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index 7874e9d26..1f139ac23 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -511,6 +511,12 @@ void AP_Mount::control_msg(mavlink_message_t *msg)
_roll_angle = vec.x;
_tilt_angle = vec.y;
_pan_angle = vec.z;
+ // also reset control angles, in radians. This allows a
+ // MOUNT_CONTROL message to be used to reset the mount to zero
+ // offset when in joystick speed relative mode
+ _roll_control_angle = radians(_roll_angle);
+ _tilt_control_angle = radians(_tilt_angle);
+ _pan_control_angle = radians(_pan_angle);
}
break;
--
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