AP_Mount: Gremsy fix for attitude reporting

rmackay9 · Jul 20, 2023 · e80be4a · e80be4a
1 parent 66a6f67
commit e80be4a
Show file tree

Hide file tree

Showing 2 changed files with 0 additions and 7 deletions.
diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.cpp b/libraries/AP_Mount/AP_Mount_Gremsy.cpp
@@ -126,12 +126,6 @@ bool AP_Mount_Gremsy::healthy() const
 // get attitude as a quaternion.  returns true on success
 bool AP_Mount_Gremsy::get_attitude_quaternion(Quaternion& att_quat)
 {
-    // check we have received an updated message
-    if (_gimbal_device_attitude_status.time_boot_ms == _sent_gimbal_device_attitude_status_ms) {
-        return false;
-    }
-    _sent_gimbal_device_attitude_status_ms = _gimbal_device_attitude_status.time_boot_ms;
-
     att_quat = _gimbal_device_attitude_status.q;
     return true;
 }

diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.h b/libraries/AP_Mount/AP_Mount_Gremsy.h
@@ -70,6 +70,5 @@ class AP_Mount_Gremsy : public AP_Mount_Backend
     uint8_t _compid;                // component id of gimbal
     mavlink_gimbal_device_attitude_status_t _gimbal_device_attitude_status;  // copy of most recently received gimbal status
     uint32_t _last_attitude_status_ms;  // system time last attitude status was received (used for health reporting)
-    uint32_t _sent_gimbal_device_attitude_status_ms;    // time_boot_ms field of gimbal_device_status message last forwarded to the GCS (used to prevent sending duplicates)
 };
 #endif // HAL_MOUNT_GREMSY_ENABLED