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AP_Mount: Add parameter to control relative pan option for servo mounts #16433

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merged 3 commits into from
Mar 3, 2021
Merged

AP_Mount: Add parameter to control relative pan option for servo mounts #16433

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aa762db
AP_Mount: Add parameter to control relative pan option for servo mounts
spark404 Jan 25, 2021
601a3dd
AP_Mount: Add parameter to control relative pan option for servo mounts
spark404 Jan 26, 2021
f977ad6
AP_Mount: Set relative pan to true for servo mounts
spark404 Jan 27, 2021
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6 changes: 3 additions & 3 deletions libraries/AP_Mount/AP_Mount_Servo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ void AP_Mount_Servo::update()
// point mount to a GPS point given by the mission planner
case MAV_MOUNT_MODE_GPS_POINT:
{
if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, false)) {
if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, true)) {
stabilize();
}
break;
Expand All @@ -83,7 +83,7 @@ void AP_Mount_Servo::update()
}
_state._roi_target = AP::ahrs().get_home();
_state._roi_target_set = true;
if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, false)) {
if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, true)) {
stabilize();
}
break;
Expand All @@ -92,7 +92,7 @@ void AP_Mount_Servo::update()
if (calc_angle_to_sysid_target(_angle_ef_target_rad,
_flags.tilt_control,
_flags.pan_control,
false)) {
true)) {
stabilize();
}
break;
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