diff options
| -rw-r--r-- | src/drivers/gimbal/gimbal.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/drivers/gimbal/gimbal.cpp b/src/drivers/gimbal/gimbal.cpp index a7e03ad39..536226a01 100644 --- a/src/drivers/gimbal/gimbal.cpp +++ b/src/drivers/gimbal/gimbal.cpp @@ -311,9 +311,9 @@ Gimbal::cycle() orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd); - debug("cmd: %d, param7 %d | param1: %8.4f param2: %8.4f", cmd.command, (int)cmd.param7, (double)cmd.param1, (double)cmd.param2); - VEHICLE_MOUNT_MODE mountMode = (VEHICLE_MOUNT_MODE)cmd.param7; + debug("cmd: %d, mountMode %d | param1: %8.4f param2: %8.4f", cmd.command, mountMode, (double)cmd.param1, (double)cmd.param2); + if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && mountMode == VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) { /* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */ @@ -343,7 +343,7 @@ Gimbal::cycle() struct actuator_controls_s controls; - debug("publishing | roll: %8.4f pitch: %8.4f yaw: %8.4f", (double)roll, (double)pitch, (double)yaw); + // debug("publishing | roll: %8.4f pitch: %8.4f yaw: %8.4f", (double)roll, (double)pitch, (double)yaw); /* fill in the final control values */ controls.timestamp = hrt_absolute_time(); |