Copter: Handle DO_MOUNT_CONTROL yaw angle as body frame #27071
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And only accept if the mode is MAV_MOUNT_MODE_MAVLINK_TARGETING. This matches the handlers in AP_Mount.
nexton-winjeel
commented
May 16, 2024
| @@ -1219,6 +1219,7 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_ | |||
| break; | |||
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| case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205 | |||
| // TODO: this is only valid if packet.z == MAV_MOUNT_MODE_MAVLINK_TARGETING | |||
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Should this be returning MAV_MISSION_INVALID_PARAM7 if the mode (packet.z) is not set to MAV_MOUNT_MODE_MAVLINK_TARGETING?
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The demanded yaw angles in the
MOUNT_CONTROLandDO_MOUNT_CONTROLcommands are in body frame (and are handled this way inAP_Mount). This fixes the Copter handlers where they were being treated as earth frame.It also rejects these messages if an invalid mode is provided, as the yaw control is only applicable when the mode is
MAV_MOUNT_MODE_MAVLINK_TARGETING.FYI: @rmackay9