I guess youāre saying that the SToRM32 gimbal expects it in centi-degrees?
no, it expects it in degrees, since ever, and today ![:slight_smile: :slight_smile:](https://discuss.ardupilot.org/images/emoji/twitter/slight_smile.png?v=12)
(today: MAVLink Communication - STorM32-BGC Wiki)
(since ever: Serial Communication - STorM32-BGC Wiki V1)
The mavlink message description is slightly vague
I donāt think so, I think it is crystal clear. It says āpitch depending on mount mode (degrees or degrees/second depending on pitch input)ā. Since itās not rate = deg/sec, it only can be deg. Never cdeg.
I repeat, this (and other) issue wasnāt there before 4.x ā¦ I must admit I donāt like the tendency to mystify this matter ā¦ the mavlink spec has not changed from AP 3.x to 4.x, thatās a fact ā¦ so if things were ok in 3.x but started to fail in 4.x ā¦ connect the dots
I think you first want to get the code paths outside of the STorM32 drivers corrected. In the github link which you cited I have given most if not all pointers (I hope they still refer to the correct locations), and just by looking at these code pieces it should be obvious that something is wrong. E.g., look at which message expects int and which float and compare to the function headers ā¦
Itās the deprecated MOUNT_CONTROL message which wants cdeg, while the command wants deg, thatās what AP mixes up
I am not sure this is helpful, and I donāt really expect anyone to do it, but seraching in the betacopter fork for //OW woul retrieve a couple of comments which refer to the āfactor 100ā bug, i.e., may give pointers to places to look at
I may sound inappropriate, but I really think you need to understand whatās up in the AP code base before venturing into āsolutionsā (and I also think you want to connect with peterbarker and double check with his reasons why it couldnāt be resolved before)(from what I recall, he eventually fully acknowledged the issue but said it canāt be changed without breaking some things)
why is all this always so difficult? I am saying all this literally for the fifth or so time now. You may understand that it feels a bit tedious. Anyway, I really appreciate your current efforts, it looks like you are serious with looking at the issues, very much apprecited. ![:+1: :+1:](https://discuss.ardupilot.org/images/emoji/twitter/+1.png?v=12)
(I only would wish I wouldnāt have to say things always five times LOL)
![](https://www.rclineforum.de/forum/wcf/images/smilies/prost.gif)