From 78db6981080b842375931bacc301186883e141bc Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 18 Nov 2014 13:33:28 +1100 Subject: [PATCH] AP_Mount: allow a MOUNT_CONTROL message to reset RC targetting fixes issue #1617 --- libraries/AP_Mount/AP_Mount.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp index 7874e9d26d..1f139ac233 100644 --- a/libraries/AP_Mount/AP_Mount.cpp +++ b/libraries/AP_Mount/AP_Mount.cpp @@ -511,6 +511,12 @@ void AP_Mount::control_msg(mavlink_message_t *msg) _roll_angle = vec.x; _tilt_angle = vec.y; _pan_angle = vec.z; + // also reset control angles, in radians. This allows a + // MOUNT_CONTROL message to be used to reset the mount to zero + // offset when in joystick speed relative mode + _roll_control_angle = radians(_roll_angle); + _tilt_control_angle = radians(_tilt_angle); + _pan_control_angle = radians(_pan_angle); } break;