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| author | Anton Matosov <anton.matosov@gmail.com> | 2015-01-17 01:38:34 +0200 |
|---|---|---|
| committer | Anton Matosov <anton.matosov@gmail.com> | 2015-03-06 18:57:37 -0800 |
| commit | 076180a9838c69d6a31f081b536e155ad13cdc7a (patch) | |
| tree | f3ad1e92a1534a1299b669fc8e5832bed0110404 /src/drivers/servo_gimbal/gimbal.cpp | |
| parent | 415846b48640ffd52a38e18801de8c40a60cb6a7 (diff) | |
| download | px4-firmware-076180a9838c69d6a31f081b536e155ad13cdc7a.tar.gz px4-firmware-076180a9838c69d6a31f081b536e155ad13cdc7a.tar.bz2 px4-firmware-076180a9838c69d6a31f081b536e155ad13cdc7a.zip | |
Added missing enum definitions
Fixed float equality checks
Diffstat (limited to 'src/drivers/servo_gimbal/gimbal.cpp')
| -rw-r--r-- | src/drivers/servo_gimbal/gimbal.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/drivers/servo_gimbal/gimbal.cpp b/src/drivers/servo_gimbal/gimbal.cpp index 47b43e3fe..133c8d5ad 100644 --- a/src/drivers/servo_gimbal/gimbal.cpp +++ b/src/drivers/servo_gimbal/gimbal.cpp @@ -73,6 +73,7 @@ #include <uORB/topics/vehicle_attitude.h> #include <board_config.h> +#include <mathlib/math/test/test.hpp> /* Configuration Constants */ @@ -312,7 +313,7 @@ Gimbal::cycle() //debug("cmd: %d, param1: %8.4f param2: %8.4f", (double)cmd.command, (double)cmd.param1, (double)cmd.param2); - if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && cmd.param7 == 2) { + if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && equal(cmd.param7, VEHICLE_MOUNT_MODE_MAVLINK_TARGETING)) { /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1; @@ -323,7 +324,7 @@ Gimbal::cycle() } // XXX change this to the real quaternion command - if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && cmd.param7 == 2) { + if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && equal(cmd.param7, VEHICLE_MOUNT_MODE_MAVLINK_TARGETING)) { /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1; |