@Pedals2Paddles wrote:
We're having a problem with the Solo's guided mode mavlink mount targeting. Many of the smart shots use Mavlink
MSG_MOUNT_CONTROL
to aim the camera. It controls the yaw and gimbal pitch. For reasons unknown, this is not working. The copter does not respond at all. No change to yaw or gimbal pitch. I tried changing it to useMAV_CMD_DO_MOUNT_CONTROL
and that doesn't seem to work either. But I'm not 100% confident I did it right either.Is there way to see in the dataflash log what guided mode commands are actually being received? I uploaded a log.
Existing mavlink command is this, where newPitch and newYaw are the degrees
pointingMsg = self.vehicle.message_factory.mount_control_encode(
0, 1, # target system, target component
newPitch * 100, # pitch (centidegrees)
0.0, # roll (centidegrees)
newYaw * 100, # yaw (centidegrees)
0 # save position)I also tried this, without the centidegrees.
pointingMsg = self.vehicle.message_factory.command_long_encode(
0, 1, # target system, target component
mavutil.mavlink.MAV_CMD_DO_MOUNT_CONTROL, # command
0, # confirmation
newPitch, # pitch (degrees)
0.0, # roll (degrees)
newYaw, # yaw (degrees)
0, 0, 0, # params 4-6 (unused)
2 # MAV_MOUNT_MODE_MAVLINK_TARGETING)
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