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Navigator: add set_gimbal_neutral() functionality

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To point the gimbal forward eg during landing to reduce chance of damage.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-11-29 15:42:20 +01:00
parent fe7988672f
commit 178ea132b6
2 changed files with 14 additions and 0 deletions
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src/modules/navigator/navigator.h
+2
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@@ -65,6 +65,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/gimbal_manager_set_attitude.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
@@ -276,6 +277,7 @@ public:
void acquire_gimbal_control();
void release_gimbal_control();
void set_gimbal_neutral();
void calculate_breaking_stop(double &lat, double &lon, float &yaw);
src/modules/navigator/navigator_main.cpp
+12
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@@ -1508,6 +1508,18 @@ void Navigator::disable_camera_trigger()
publish_vehicle_cmd(&cmd);
}
void Navigator::set_gimbal_neutral()
{
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW;
vcmd.param1 = NAN;
vcmd.param2 = NAN;
vcmd.param3 = NAN;
vcmd.param4 = NAN;
vcmd.param5 = gimbal_manager_set_attitude_s::GIMBAL_MANAGER_FLAGS_NEUTRAL;
publish_vehicle_cmd(&vcmd);
}
int Navigator::print_usage(const char *reason)
{
if (reason) {