gimbal: fix device flags for RC gimbals

PX4 · Oct 30, 2024 · 6509e70 · 6509e70
1 parent e320593
commit 6509e70
Showing 1 changed file with 13 additions and 4 deletions.
diff --git a/src/modules/gimbal/output_rc.cpp b/src/modules/gimbal/output_rc.cpp
@@ -96,10 +96,19 @@ void OutputRC::_stream_device_attitude_status()
 	attitude_status.timestamp = hrt_absolute_time();
 	attitude_status.target_system = 0;
 	attitude_status.target_component = 0;
-	attitude_status.device_flags = gimbal_device_attitude_status_s::DEVICE_FLAGS_NEUTRAL |
-				       gimbal_device_attitude_status_s::DEVICE_FLAGS_ROLL_LOCK |
-				       gimbal_device_attitude_status_s::DEVICE_FLAGS_PITCH_LOCK |
-				       gimbal_device_attitude_status_s::DEVICE_FLAGS_YAW_LOCK;
+	attitude_status.device_flags = 0;
+
+	if (_absolute_angle[0]) {
+		attitude_status.device_flags |= gimbal_device_attitude_status_s::DEVICE_FLAGS_ROLL_LOCK;
+	}
+
+	if (_absolute_angle[1]) {
+		attitude_status.device_flags |= gimbal_device_attitude_status_s::DEVICE_FLAGS_PITCH_LOCK;
+	}
+
+	if (_absolute_angle[2]) {
+		attitude_status.device_flags |= gimbal_device_attitude_status_s::DEVICE_FLAGS_YAW_LOCK;
+	}
 
 	matrix::Eulerf euler(_angle_outputs[0], _angle_outputs[1], _angle_outputs[2]);
 	matrix::Quatf q(euler);