fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 17:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

gimbal: implement gimbal_device_id

Browse Source 
It turns out that I had omitted implementing the gimbal_device_id which
is the component ID of the gimbal device that the gimbal manager (in
this case PX4) is responsible for.

Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes
2023-05-01 09:02:25 -04:00
committed by Daniel Agar
parent b23eee40f0
commit 3f13a6e787
10 changed files with 34 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/gimbal/input_mavlink.h
+3 -1
View File
@@ -114,7 +114,7 @@ private:
void _set_control_data_from_set_attitude(ControlData &control_data, const uint32_t flags, const matrix::Quatf &q,
const matrix::Vector3f &angular_velocity);
void _ack_vehicle_command(const vehicle_command_s &cmd, uint8_t result);
void _stream_gimbal_manager_information();
void _stream_gimbal_manager_information(const ControlData &control_data);
void _stream_gimbal_manager_status(const ControlData &control_data);
void _read_control_data_from_position_setpoint_sub(ControlData &control_data);
@@ -128,6 +128,8 @@ private:
uORB::Publication<gimbal_manager_information_s> _gimbal_manager_info_pub{ORB_ID(gimbal_manager_information)};
uORB::Publication<gimbal_manager_status_s> _gimbal_manager_status_pub{ORB_ID(gimbal_manager_status)};
uint8_t _cur_roi_mode = vehicle_roi_s::ROI_NONE;
uint8_t _last_device_compid = 0;
};
} /* namespace gimbal */