From d6b2a796966e27b49bd1925f606d235673118f03 Mon Sep 17 00:00:00 2001 From: Nick Exton Date: Thu, 16 May 2024 11:27:05 +1000 Subject: [PATCH] AP_Mission: Set DO_MOUNT_CONTROL.mode when converting command to MAVLink --- libraries/AP_Mission/AP_Mission.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp index bba83dd86cb2d..22b4ce2950131 100644 --- a/libraries/AP_Mission/AP_Mission.cpp +++ b/libraries/AP_Mission/AP_Mission.cpp @@ -1251,6 +1251,7 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_ break; case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205 + // TODO: this is only valid if packet.z == MAV_MOUNT_MODE_MAVLINK_TARGETING cmd.content.mount_control.pitch = packet.param1; cmd.content.mount_control.roll = packet.param2; cmd.content.mount_control.yaw = packet.param3; @@ -1767,6 +1768,7 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c packet.param1 = cmd.content.mount_control.pitch; packet.param2 = cmd.content.mount_control.roll; packet.param3 = cmd.content.mount_control.yaw; + packet.z = MAV_MOUNT_MODE_MAVLINK_TARGETING; break; case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206