From 0dbe2e072c1613e8cb8753a878bdd9fb78177393 Mon Sep 17 00:00:00 2001
From: Hugo Trippaers <htrippaers@schubergphilis.com>
Date: Wed, 27 Jan 2021 12:28:14 +0100
Subject: [PATCH] AP_Mount: Set relative pan to true for servo mounts

---
 libraries/AP_Mount/AP_Mount.cpp       | 16 +---------------
 libraries/AP_Mount/AP_Mount.h         |  5 -----
 libraries/AP_Mount/AP_Mount_Servo.cpp |  8 +++-----
 3 files changed, 4 insertions(+), 25 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index 2c29141e23..1a7af63454 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -213,13 +213,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] = {
 
     // 23 formerly _K_RATE
 
-    // @Param: _OPTIONS
-    // @DisplayName: Options field
-    // @Description: User configurable options; 0 = Enable Relative Pan on Servo Mounts
-    // @Values:  0:RelativePan
-    // @Bitmask: 0:RelativePan
-    // @User: Standard
-    AP_GROUPINFO("_OPTIONS",        24, AP_Mount, state[0]._options, 0),
+    // 24 is AVAILABLE
 
 #if AP_MOUNT_MAX_INSTANCES > 1
     // @Param: 2_DEFLT_MODE
@@ -401,14 +395,6 @@ const AP_Param::GroupInfo AP_Mount::var_info[] = {
     // @Values: 0:None, 1:Servo, 2:3DR Solo, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial
     // @User: Standard
     AP_GROUPINFO("2_TYPE",           42, AP_Mount, state[1]._type, 0),
-
-    // @Param: 2_OPTIONS
-    // @DisplayName: Options field for Mount 2
-    // @Description: User configurable options; 0 = Enable Relative Pan on Servo Mounts
-    // @Values:  0:RelativePan
-    // @Bitmask: 0:RelativePan
-    // @User: Standard
-    AP_GROUPINFO("2_OPTIONS",       43, AP_Mount, state[1]._options, 0),
 #endif // AP_MOUNT_MAX_INSTANCES > 1
 
     AP_GROUPEND
diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
index c1e507fbb3..fc1d85979a 100644
--- a/libraries/AP_Mount/AP_Mount.h
+++ b/libraries/AP_Mount/AP_Mount.h
@@ -40,9 +40,6 @@
 // maximum number of mounts
 #define AP_MOUNT_MAX_INSTANCES          1
 
-// options (see _OPTIONS parameter)
-#define AP_MOUNT_OPTION_RELATIVE_PAN    (1<<0)
-
 // declare backend classes
 class AP_Mount_Backend;
 class AP_Mount_Servo;
@@ -193,8 +190,6 @@ protected:
         Location _target_sysid_location; // sysid target location
         bool _target_sysid_location_set;
 
-        AP_Int8         _options;           // Options field, bit 0 = use relative pan
-
     } state[AP_MOUNT_MAX_INSTANCES];
 
 private:
diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp
index 89aeab5de0..f4a459eb1a 100644
--- a/libraries/AP_Mount/AP_Mount_Servo.cpp
+++ b/libraries/AP_Mount/AP_Mount_Servo.cpp
@@ -35,8 +35,6 @@ void AP_Mount_Servo::update()
         _last_check_servo_map_ms = now;
     }
 
-    uint8_t relative_pan = _state._options & AP_MOUNT_OPTION_RELATIVE_PAN;
-
     switch(get_mode()) {
         // move mount to a "retracted position" or to a position where a fourth servo can retract the entire mount into the fuselage
         case MAV_MOUNT_MODE_RETRACT:
@@ -72,7 +70,7 @@ void AP_Mount_Servo::update()
         // point mount to a GPS point given by the mission planner
         case MAV_MOUNT_MODE_GPS_POINT:
         {
-            if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, relative_pan)) {
+            if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, true)) {
                 stabilize();
             }
             break;
@@ -85,7 +83,7 @@ void AP_Mount_Servo::update()
             }
             _state._roi_target = AP::ahrs().get_home();
             _state._roi_target_set = true;
-            if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, relative_pan)) {
+            if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, true)) {
                 stabilize();
             }
             break;
@@ -94,7 +92,7 @@ void AP_Mount_Servo::update()
             if (calc_angle_to_sysid_target(_angle_ef_target_rad,
                                            _flags.tilt_control,
                                            _flags.pan_control,
-                                           relative_pan)) {
+                                           true)) {
                 stabilize();
             }
             break;