AP_Mount: Viewpro converts angles to output using radians directly - #33504
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rmackay9 merged 1 commit intoAug 12, 2026
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Add AP_MOUNT_VIEWPRO_RAD_TO_OUTPUT and use it for the target pitch/yaw angles and for the vehicle attitude sent in the M_AHRS packet, taking the values from the AHRS in radians rather than degrees. This removes the intermediate radians-to-degrees conversions and the now-unused AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT scalar. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
hunt0r
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rmackay9
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Aug 12, 2026
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Summary
Tidies up ViewPro sending my eliminating degrees intermediates.
Classification & Testing (check all that apply and add your own)
Tortured a bit locally by making sure we run through these checks, breaking the calculation and fixing it again.
These paths are well cross by the autotest suite.
Description
Add AP_MOUNT_VIEWPRO_RAD_TO_OUTPUT and use it for the target pitch/yaw angles and for the vehicle attitude sent in the M_AHRS packet, taking the values from the AHRS in radians rather than degrees. This removes the intermediate radians-to-degrees conversions and the now-unused AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT scalar.
Fixes a very small issue where we would truncate the vehicle yaw to integer degrees before multiplying it again to scale it to put in the packet.