RC_Channel: optional mount retract logic inversion #30875
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If the mount is configured to be retracted by default, the high switch position sets the mount to RC targeting.
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Hmm I'm not sure if my code relates to the falling tests, I just ran it locally and it passed: Should I just ignore them? |
We've merged a fix for that one. |
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Flight tested the changes, works as I intended it to. |
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Something popped up after flight-testing #30810
If the mount is set up in a way that the default mode is
MAV_MOUNT_MODE_RETRACT, the RC switch becomes unusable since it can either retract or go to the default mode (which is again retracted).This change flips the switch logic when the mount is retracted by default and when the switch is high the mount goes to RC targeting. The idea behind that is that since the default parameter is used up a reasonable guess is that since the user uses RC to open/retract the mount, they are likely having a transmitter-only (or primarily transmitter) setup. The MAVLink code path is unaffected.
Tested in SITL.