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AP_Mount: viewpro fix for swapped ahrs roll pitch #26556

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Merged
tridge merged 1 commit into from
Mar 20, 2024
Merged

AP_Mount: viewpro fix for swapped ahrs roll pitch #26556

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2 changes: 1 addition & 1 deletion libraries/AP_Mount/AP_Mount_Viewpro.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -702,8 +702,8 @@ bool AP_Mount_Viewpro::send_m_ahrs()
frame_id: FrameId::M_AHRS,
data_type: 0x07, // Bit0: Attitude, Bit1: GPS, Bit2 Gyro
unused2to8 : {0, 0, 0, 0, 0, 0, 0},
pitch_be: htobe16(-degrees(AP::ahrs().get_pitch()) * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT), // vehicle pitch angle. 1bit=360deg/65536
roll_be: htobe16(degrees(AP::ahrs().get_roll()) * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT), // vehicle roll angle. 1bit=360deg/65536
pitch_be: htobe16(-degrees(AP::ahrs().get_pitch()) * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT), // vehicle pitch angle. 1bit=360deg/65536
yaw_be: htobe16(veh_yaw_deg * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT), // vehicle yaw angle. 1bit=360deg/65536
date_be: htobe16(date), // bit0~6:year, bit7~10:month, bit11~15:day
seconds_utc: {uint8_t((second_hundredths & 0xFF0000ULL) >> 16), // seconds * 100 MSB. 1bit = 0.01sec
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2 changes: 1 addition & 1 deletion libraries/AP_Mount/AP_Mount_Viewpro.h
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Original file line number Diff line number Diff line change
Expand Up @@ -291,8 +291,8 @@ class AP_Mount_Viewpro : public AP_Mount_Backend
FrameId frame_id; // always 0xB1
uint8_t data_type; // should be 0x07. Bit0: Attitude, Bit1: GPS, Bit2 Gyro
uint8_t unused2to8[7]; // unused
be16_t pitch_be; // vehicle pitch angle. 1bit=360deg/65536
be16_t roll_be; // vehicle roll angle. 1bit=360deg/65536
be16_t pitch_be; // vehicle pitch angle. 1bit=360deg/65536
be16_t yaw_be; // vehicle yaw angle. 1bit=360deg/65536
be16_t date_be; // bit0~6:year, bit7~10:month, bit11~15:day
uint8_t seconds_utc[3]; // seconds. 1bit = 0.01sec
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