Fix gimbal rotate command #29

flight/camera.py

@@ -153,9 +153,9 @@ async def mapping_move_to(
         info: dict[str, CameraParameters] = {}
 
         drone.gimbal.rotate(
-            -drone.attitude.pitch - 90,
-            -drone.attitude.roll,
-            heading,  # pitch and roll are relative to the drone
+            round(-drone.attitude.pitch - 90),  # must use integers
+            round(-drone.attitude.roll),
+            round(heading),  # pitch and roll are relative to the drone
         )
         await asyncio.sleep(1.0)
 
@@ -185,7 +185,9 @@ async def mapping_move_to(
         next_interval_count: int = 1
         while not goto_task.done():
             # Keep gimbal pointed straight down
-            drone.gimbal.rotate(-drone.attitude.pitch - 90, -drone.attitude.roll, heading)
+            drone.gimbal.rotate(
+                round(-drone.attitude.pitch - 90), round(-drone.attitude.roll), round(heading)
+            )
 
             position: dronekit.LocationGlobalRelative = drone.location.global_relative_frame
 
@@ -206,7 +208,9 @@ async def mapping_move_to(
 
             await asyncio.sleep(0.25)
 
-        drone.gimbal.rotate(-drone.attitude.pitch - 90, -drone.attitude.roll, heading)
+        drone.gimbal.rotate(
+            round(-drone.attitude.pitch - 90), round(-drone.attitude.roll), round(heading)
+        )
         await asyncio.sleep(1.0)
 
         camera_parameters = await self._get_camera_parameters(drone)
@@ -268,9 +272,9 @@ async def odlc_move_to(
         if take_photos:
             # Point the gimbal straight down
             drone.gimbal.rotate(
-                -drone.gimbal.pitch - 90,  # pitch is relative to the drone
-                -drone.gimbal.roll,
-                heading,
+                round(-drone.gimbal.pitch - 90),
+                round(-drone.gimbal.roll),
+                round(heading),
             )
 
         await asyncio.sleep(2)