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AP_Mount: fix SToRM32 Serial protocol delay

The packets to a SToRM32 gimbal were being sent at 1s intervals when in MAVLINK targeting mode.
We need to send them faster or smooth targetting is impossible.
master
HITMAnsOFT 6 years ago committed by Francisco Ferreira
parent
commit
9c26b5bb9c
  1. 1
      libraries/AP_Mount/AP_Mount_SToRM32.cpp
  2. 1
      libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp

1
libraries/AP_Mount/AP_Mount_SToRM32.cpp

@ -46,6 +46,7 @@ void AP_Mount_SToRM32::update() @@ -46,6 +46,7 @@ void AP_Mount_SToRM32::update()
// point to the angles given by a mavlink message
case MAV_MOUNT_MODE_MAVLINK_TARGETING:
// do nothing because earth-frame angle targets (i.e. _angle_ef_target_rad) should have already been set by a MOUNT_CONTROL message from GCS
resend_now = true;
break;
// RC radio manual angle control, but with stabilization from the AHRS

1
libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp

@ -60,6 +60,7 @@ void AP_Mount_SToRM32_serial::update() @@ -60,6 +60,7 @@ void AP_Mount_SToRM32_serial::update()
// point to the angles given by a mavlink message
case MAV_MOUNT_MODE_MAVLINK_TARGETING:
// do nothing because earth-frame angle targets (i.e. _angle_ef_target_rad) should have already been set by a MOUNT_CONTROL message from GCS
resend_now = true;
break;
// RC radio manual angle control, but with stabilization from the AHRS

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