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mavlink: add gimbal mode to talk to gimbal device

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This commit is contained in:
Julian Oes
2021-02-17 13:54:34 -05:00
committed by Daniel Agar
parent 2a0ddf9f44
commit 422bac4bfd
4 changed files with 17 additions and 3 deletions
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src/modules/mavlink/mavlink_main.cpp
+10 -1
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@@ -1680,6 +1680,12 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
break;
case MAVLINK_MODE_GIMBAL:
// Note: streams requiring low latency come first
configure_stream_local("AUTOPILOT_STATE_FOR_GIMBAL_DEVICE", 20.0f);
configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 20.0f);
break;
case MAVLINK_MODE_EXTVISION:
configure_stream_local("HIGHRES_IMU", unlimited_rate); // for VIO
@@ -2044,6 +2050,9 @@ Mavlink::task_main(int argc, char *argv[])
} else if (strcmp(myoptarg, "extvisionmin") == 0) {
_mode = MAVLINK_MODE_EXTVISIONMIN;
} else if (strcmp(myoptarg, "gimbal") == 0) {
_mode = MAVLINK_MODE_GIMBAL;
} else {
PX4_ERR("invalid mode");
err_flag = true;
@@ -3074,7 +3083,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
PRINT_MODULE_USAGE_PARAM_STRING('t', "127.0.0.1", nullptr,
"Partner IP (broadcasting can be enabled via MAV_BROADCAST param)", true);
#endif
PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal|extvsision",
PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal|extvision|extvisionmin|gimbal",
"Mode: sets default streams and rates", true);
PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, "<interface_name>", "wifi/ethernet interface name", true);
#if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)