Copter: do-mount-control ignored if no mount

Co-authored-by: srirajshukla <srirajshukla@gmail.com>
Co-authored-by: Yash Vadi <yvadi9274@yahoo.com>

ArduCopter/GCS_Mavlink.cpp

@@ -685,15 +685,17 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
 
 MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_long_t &packet)
 {
-    // if the mount doesn't do pan control then yaw the entire vehicle instead:
     switch (packet.command) {
 #if HAL_MOUNT_ENABLED
     case MAV_CMD_DO_MOUNT_CONTROL:
-        if (!copter.camera_mount.has_pan_control()) {
+        // if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
+        if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) &&
+            !copter.camera_mount.has_pan_control()) {
             copter.flightmode->auto_yaw.set_fixed_yaw(
                 (float)packet.param3 * 0.01f,
                 0.0f,
-                0,0);
+                0,
+                false);
         }
         break;
 #endif
@@ -955,13 +957,14 @@ void GCS_MAVLINK_Copter::handle_mount_message(const mavlink_message_t &msg)
     switch (msg.msgid) {
 #if HAL_MOUNT_ENABLED
     case MAVLINK_MSG_ID_MOUNT_CONTROL:
-        if (!copter.camera_mount.has_pan_control()) {
-            // if the mount doesn't do pan control then yaw the entire vehicle instead:
+        // if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
+        if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) &&
+            !copter.camera_mount.has_pan_control()) {
             copter.flightmode->auto_yaw.set_fixed_yaw(
                 mavlink_msg_mount_control_get_input_c(&msg) * 0.01f,
                 0.0f,
                 0,
-                0);
+                false);
 
             break;
         }

ArduCopter/mode_auto.cpp

@@ -1452,9 +1452,12 @@ void ModeAuto::do_roi(const AP_Mission::Mission_Command& cmd)
 void ModeAuto::do_mount_control(const AP_Mission::Mission_Command& cmd)
 {
 #if HAL_MOUNT_ENABLED
-    if (!copter.camera_mount.has_pan_control()) {
-        auto_yaw.set_fixed_yaw(cmd.content.mount_control.yaw,0.0f,0,0);
+    // if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
+    if ((copter.camera_mount.get_mount_type() != copter.camera_mount.MountType::Mount_Type_None) &&
+        !copter.camera_mount.has_pan_control()) {
+        auto_yaw.set_fixed_yaw(cmd.content.mount_control.yaw,0.0f,0,false);
     }
+    // pass the target angles to the camera mount
     copter.camera_mount.set_angle_targets(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw);
 #endif
 }