Gimbal: send commands to gimbal component

We shouldn't just send the commands to the vehicle because the gimbal manager might be implemented on any component, not just the autopilot.
mavlink · Aug 19, 2024 · c2ed1b5 · c2ed1b5
1 parent dc26c96
commit c2ed1b5
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/src/Gimbal/GimbalController.cc b/src/Gimbal/GimbalController.cc
@@ -528,7 +528,7 @@ void GimbalController::sendPitchBodyYaw(float pitch, float yaw, bool showError)
         | GIMBAL_MANAGER_FLAGS_YAW_IN_VEHICLE_FRAME;
 
     _vehicle->sendMavCommand(
-                _vehicle->compId(),
+                _activeGimbal->managerCompid()->rawValue().toUInt(),
                 MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW,
                 showError,
                 pitch,
@@ -561,7 +561,7 @@ void GimbalController::sendPitchAbsoluteYaw(float pitch, float yaw, bool showErr
         | GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAME;
 
     _vehicle->sendMavCommand(
-                _vehicle->compId(),
+                _activeGimbal->managerCompid()->rawValue().toUInt(),
                 MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW,
                 showError,
                 pitch,
@@ -609,7 +609,7 @@ void GimbalController::sendPitchYawFlags(uint32_t flags)
     const bool yaw_in_vehicle_frame = _yawInVehicleFrame(flags);
 
     _vehicle->sendMavCommand(
-                _vehicle->compId(),
+                _activeGimbal->managerCompid()->rawValue().toUInt(),
                 MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW,
                 true,
                 _activeGimbal->absolutePitch()->rawValue().toFloat(),
@@ -628,7 +628,7 @@ void GimbalController::acquireGimbalControl()
         return;
     }
     _vehicle->sendMavCommand(
-        _vehicle->compId(),
+        _activeGimbal->managerCompid()->rawValue().toUInt(),
         MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE,
         true,
         _mavlink->getSystemId(), // Set us in primary control.
@@ -647,7 +647,7 @@ void GimbalController::releaseGimbalControl()
         return;
     }
     _vehicle->sendMavCommand(
-        _vehicle->compId(),
+        _activeGimbal->managerCompid()->rawValue().toUInt(),
         MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE,
         true,
         -3.f, // Release primary control if we have control