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Fix gimbalCmdIn.u.crc to gimbalCmdIn.u.gimbalCmd.crc (#14311)

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nerdCopter 2025-03-21 17:27:40 -05:00 • committed by GitHub
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commit 9c8f84f62d
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src/main/io/gimbal_control.c
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@ -288,7 +288,7 @@ void gimbalUpdate(timeUs_t currentTimeUs)
if (gimbalInCount == sizeof(gimbalCmdIn.u.gimbalCmd)) { if (gimbalInCount == sizeof(gimbalCmdIn.u.gimbalCmd)) {
uint16_t crc = gimbalCrc((uint8_t *)&gimbalCmdIn, sizeof(gimbalCmdIn) - 2); uint16_t crc = gimbalCrc((uint8_t *)&gimbalCmdIn, sizeof(gimbalCmdIn) - 2);
// Only use the data if the CRC is correct // Only use the data if the CRC is correct
if (gimbalCmdIn.u.crc == crc) { if (gimbalCmdIn.u.gimbalCmd.crc == crc) {
gimbalCmdOut = gimbalCmdIn.u.gimbalCmd; gimbalCmdOut = gimbalCmdIn.u.gimbalCmd;
gimbalSet(gimbalCmdIn.u.gimbalCmd.roll, gimbalCmdIn.u.gimbalCmd.pitch, gimbalCmdIn.u.gimbalCmd.yaw); gimbalSet(gimbalCmdIn.u.gimbalCmd.roll, gimbalCmdIn.u.gimbalCmd.pitch, gimbalCmdIn.u.gimbalCmd.yaw);
serialWriteBuf(gimbalSerialPort, (uint8_t *)&gimbalCmdOut, sizeof(gimbalCmdOut)); serialWriteBuf(gimbalSerialPort, (uint8_t *)&gimbalCmdOut, sizeof(gimbalCmdOut));