AP_Mount: fix get_angle_target for converted cmds

If a backend gets the target mode converted to angle, get_angle_target
will return the converted angles. This fixes scripting backends that
relied on get_angle_target

libraries/AP_Mount/AP_Mount_Backend.cpp

@@ -1199,6 +1199,9 @@ void AP_Mount_Backend::_update_mnt_target()
 
 void AP_Mount_Backend::send_target_to_gimbal()
 {
+    // clear valid flag; set below if angles are sent
+    mnt_target.angle_converted = false;
+
     // process any pending clear-roi-target 
     // it is assumed that we have already zeroed _roi_target
     if (clear_roi_pending && natively_supports(MountTargetType::LOCATION)) {
@@ -1240,6 +1243,7 @@ void AP_Mount_Backend::send_target_to_gimbal()
         if (natively_supports(MountTargetType::ANGLE)) {
             // we integrate the rates into the angle:
             update_angle_target_from_rate(mnt_target.rate_rads, mnt_target.angle_rad);
+            mnt_target.angle_converted = true;
             send_target_angles(mnt_target.angle_rad);
             return;
         }
@@ -1250,6 +1254,7 @@ void AP_Mount_Backend::send_target_to_gimbal()
             // we update mnt_target for reporting purposes
             const Vector3f &angle_bf_target = _params.retract_angles.get();
             mnt_target.angle_rad.set(angle_bf_target*DEG_TO_RAD, false);
+            mnt_target.angle_converted = true;
             send_target_angles(mnt_target.angle_rad);
             return;
         }
@@ -1260,6 +1265,7 @@ void AP_Mount_Backend::send_target_to_gimbal()
             // we update mnt_target for reporting purposes
             const Vector3f &angle_bf_target = _params.neutral_angles.get();
             mnt_target.angle_rad.set(angle_bf_target*DEG_TO_RAD, false);
+            mnt_target.angle_converted = true;
             send_target_angles(mnt_target.angle_rad);
             return;
         }
@@ -1267,6 +1273,7 @@ void AP_Mount_Backend::send_target_to_gimbal()
     case MountTargetType::LOCATION:
         if (natively_supports(MountTargetType::ANGLE)) {
             if (get_angle_target_to_roi(mnt_target.angle_rad)) {
+                mnt_target.angle_converted = true;
                 send_target_angles(mnt_target.angle_rad);
             }
             return;
@@ -1294,7 +1301,7 @@ bool AP_Mount_Backend::get_rate_target(float& roll_degs, float& pitch_degs, floa
 // get target angle in deg. returns true on success
 bool AP_Mount_Backend::get_angle_target(float& roll_deg, float& pitch_deg, float& yaw_deg, bool& yaw_is_earth_frame)
 {
-    if (mnt_target.target_type == MountTargetType::ANGLE) {
+    if (mnt_target.target_type == MountTargetType::ANGLE || mnt_target.angle_converted) {
         roll_deg = degrees(mnt_target.angle_rad.roll);
         pitch_deg = degrees(mnt_target.angle_rad.pitch);
         yaw_deg = degrees(mnt_target.angle_rad.yaw);

libraries/AP_Mount/AP_Mount_Backend.h

@@ -398,6 +398,7 @@ protected:
         uint32_t last_rate_request_ms;
         uint32_t poi_start_ms;  // time we started trying to find the gimbal POI for an AuxFunc::MOUNT_POI_LOCK
         bool pointing_at_poi_at_home_alt;
+        bool angle_converted;   // true if a non-angle target was converted to angles by send_target_to_gimbal
     } mnt_target;
     
     // RP earth frame locks accessible by backend

libraries/AP_Mount/AP_Mount_Scripting.cpp

@@ -21,6 +21,8 @@ void AP_Mount_Scripting::update()
     AP_Mount_Backend::update();
 
     update_mnt_target();
+
+    send_target_to_gimbal();
 }
 
 // return true if healthy

libraries/AP_Mount/AP_Mount_Scripting.h

@@ -41,9 +41,10 @@ protected:
     // Scripting doesn't actually send anything (the script polls the
     // library for the targets)
     uint8_t natively_supported_mount_target_types() const override {
-        return NATIVE_ANGLES_ONLY;
+        return NATIVE_ANGLES_AND_RATES_ONLY;
     };
     void send_target_angles(const MountAngleTarget &angle_rad) override {};
+    void send_target_rates(const MountRateTarget &rate_rads) override {};
 
     // get attitude as a quaternion.  returns true on success
     bool get_attitude_quaternion(Quaternion& att_quat) override;