Skip to content

tracker: release manual control when setting mode #1575

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
robertlong13 wants to merge 1 commit into
base: master
Choose a base branch
from
Open

tracker: release manual control when setting mode #1575

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 6 additions & 0 deletions MAVProxy/modules/mavproxy_tracker.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@ def __init__(self, mpstate):
('debug', int, 0)
]
)
self._manual_control = False
self.add_command('tracker', self.cmd_tracker,
"antenna tracker control module",
['<start|arm|disarm|level|mode|position|calpress|mode>',
Expand Down Expand Up @@ -97,6 +98,9 @@ def cmd_tracker_position(self, args):
for i in range(0, 4):
if len(args) > i:
positions[i] = int(args[i]) # default values are 0
# manual control is released on pitch or yaw by setting them to 32767
# (we set the flag if either axis has not been released)
self._manual_control = (positions[0] != 32767 or positions[1] != 32767)
connection.mav.manual_control_send(connection.target_system,
positions[0], positions[1],
positions[2], positions[3],
Expand Down Expand Up @@ -127,6 +131,8 @@ def cmd_tracker_mode(self, args):
if mode not in mode_mapping:
print('Unknown mode %s: ' % mode)
return
if self._manual_control:
self.cmd_tracker_position(['32767', '32767'])
connection.set_mode(mode_mapping[mode])

def mavlink_packet(self, m):
Expand Down