From 8d3d1035d8b4c5413ac5ef92f1f6deb04da8861a Mon Sep 17 00:00:00 2001
From: Arthur Benemann <arthur.benemann@gmail.com>
Date: Fri, 15 May 2015 23:52:45 -0300
Subject: [PATCH] GCS_MAVLink: fix copter/mount yaw control for MOUNT_CONTROL
 messages

This is required for the new version of cable-cam (which uses MOUNT_CONTROL instead of ROI).
---
 ArduCopter/GCS_Mavlink.pde | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 2bb1756a26..add2b4e5ea 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1642,6 +1642,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     case MAVLINK_MSG_ID_MOUNT_CONTROL:
         camera_mount.control_msg(msg);
+        // check if mount type requires us to rotate the quad
+        if(!camera_mount.has_pan_control()) {
+            set_auto_yaw_look_at_heading(mavlink_msg_mount_control_get_input_c(msg)/100.0f, 0.0f, 0, 0);
+        }
         break;
 #endif // MOUNT == ENABLED