AP_Mount: correct status_msg to conform to MAVLink specification

3drobotics · Feb 20, 2015 · 3768201 · 3768201
1 parent 0966c09
commit 3768201
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/libraries/AP_Mount/AP_Mount_Alexmos.cpp b/libraries/AP_Mount/AP_Mount_Alexmos.cpp
@@ -77,7 +77,7 @@ void AP_Mount_Alexmos::set_mode(enum MAV_MOUNT_MODE mode)
 void AP_Mount_Alexmos::status_msg(mavlink_channel_t chan)
 {
     get_angles();
-    mavlink_msg_mount_status_send(chan, 0, 0, _current_angle.x*100, _current_angle.y*100, _current_angle.z*100);
+    mavlink_msg_mount_status_send(chan, 0, 0, _current_angle.y*100, _current_angle.x*100, _current_angle.z*100);
 }
 
 /*

diff --git a/libraries/AP_Mount/AP_Mount_SToRM32.cpp b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
@@ -110,7 +110,7 @@ void AP_Mount_SToRM32::set_mode(enum MAV_MOUNT_MODE mode)
 void AP_Mount_SToRM32::status_msg(mavlink_channel_t chan)
 {
     // return target angles as gimbal's actual attitude.  To-Do: retrieve actual gimbal attitude and send these instead
-    mavlink_msg_mount_status_send(chan, 0, 0, ToDeg(_angle_ef_target_rad.x)*100, ToDeg(_angle_ef_target_rad.y)*100, ToDeg(_angle_ef_target_rad.z)*100);
+    mavlink_msg_mount_status_send(chan, 0, 0, ToDeg(_angle_ef_target_rad.y)*100, ToDeg(_angle_ef_target_rad.x)*100, ToDeg(_angle_ef_target_rad.z)*100);
 }
 
 // send_do_mount_control - send a COMMAND_LONG containing a do_mount_control message

diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp
@@ -117,7 +117,7 @@ void AP_Mount_Servo::check_servo_map()
 // status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
 void AP_Mount_Servo::status_msg(mavlink_channel_t chan)
 {
-    mavlink_msg_mount_status_send(chan, 0, 0, _angle_bf_output_deg.x*100, _angle_bf_output_deg.y*100, _angle_bf_output_deg.z*100);
+    mavlink_msg_mount_status_send(chan, 0, 0, _angle_bf_output_deg.y*100, _angle_bf_output_deg.x*100, _angle_bf_output_deg.z*100);
 }
 
 // stabilize - stabilizes the mount relative to the Earth's frame