AP_Mount: viewpro fix for swapped ahrs roll pitch

rmackay9 · Mar 20, 2024 · 456c1bf · 456c1bf
1 parent c17a11b
commit 456c1bf
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/libraries/AP_Mount/AP_Mount_Viewpro.cpp b/libraries/AP_Mount/AP_Mount_Viewpro.cpp
@@ -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

diff --git a/libraries/AP_Mount/AP_Mount_Viewpro.h b/libraries/AP_Mount/AP_Mount_Viewpro.h
@@ -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