fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 16:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

gimbal: merge fixes

Browse Source
This commit is contained in:
Julian Oes
2021-02-17 13:54:34 -05:00
committed by Daniel Agar
parent fecd96dc28
commit 7633b119f7
5 changed files with 23 additions and 69 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_messages.cpp
+19 -15
View File
@@ -1530,7 +1530,7 @@ protected:
explicit MavlinkStreamAutopilotStateForGimbalDevice(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
bool send() override
{
if (_att_sub.advertised()) {
@@ -2021,7 +2021,7 @@ protected:
explicit MavlinkStreamGimbalDeviceAttitudeStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
bool send() override
{
gimbal_device_attitude_status_s gimbal_device_attitude_status{};
@@ -2093,23 +2093,23 @@ protected:
explicit MavlinkStreamGimbalManagerInformation(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
bool send() override
{
gimbal_manager_information_s gimbal_manager_information;
if (_gimbal_manager_information_sub.advertised() && _gimbal_manager_information_sub.copy(&gimbal_device_information)) {
// send out gimbal_manager_info with info from gimbal_device_information
if (_gimbal_manager_information_sub.advertised() && _gimbal_manager_information_sub.copy(&gimbal_manager_information)) {
// send out gimbal_manager_info with info from gimbal_manager_information
mavlink_gimbal_manager_information_t msg{};
msg.time_boot_ms = gimbal_device_information.timestamp / 1000;
msg.time_boot_ms = gimbal_manager_information.timestamp / 1000;
msg.gimbal_device_id = 0;
msg.cap_flags = gimbal_device_information.cap_flags;
msg.cap_flags = gimbal_manager_information.cap_flags;
msg.roll_min = gimbal_device_information.roll_min;
msg.roll_max = gimbal_device_information.roll_max;
msg.pitch_min = gimbal_device_information.pitch_min;
msg.pitch_max = gimbal_device_information.pitch_max;
msg.yaw_min = gimbal_device_information.yaw_min;
msg.yaw_max = gimbal_device_information.yaw_max;
msg.roll_min = gimbal_manager_information.roll_min;
msg.roll_max = gimbal_manager_information.roll_max;
msg.pitch_min = gimbal_manager_information.pitch_min;
msg.pitch_max = gimbal_manager_information.pitch_max;
msg.yaw_min = gimbal_manager_information.yaw_min;
msg.yaw_max = gimbal_manager_information.yaw_max;
mavlink_msg_gimbal_manager_information_send_struct(_mavlink->get_channel(), &msg);
@@ -2166,7 +2166,7 @@ protected:
explicit MavlinkStreamGimbalManagerStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
bool send() override
{
gimbal_manager_status_s gimbal_manager_status;
@@ -2174,6 +2174,10 @@ protected:
mavlink_gimbal_manager_status_t msg{};
msg.time_boot_ms = gimbal_manager_status.timestamp / 1000;
msg.gimbal_device_id = gimbal_manager_status.gimbal_device_id;
msg.primary_control_sysid = gimbal_manager_status.primary_control_sysid;
msg.primary_control_compid = gimbal_manager_status.primary_control_compid;
msg.secondary_control_sysid = gimbal_manager_status.secondary_control_sysid;
msg.secondary_control_compid = gimbal_manager_status.secondary_control_compid;
msg.flags = gimbal_manager_status.flags;
mavlink_msg_gimbal_manager_status_send_struct(_mavlink->get_channel(), &msg);
@@ -2233,7 +2237,7 @@ protected:
explicit MavlinkStreamGimbalDeviceSetAttitude(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
bool send() override
{
gimbal_device_set_attitude_s gimbal_device_set_attitude;
src/modules/mavlink/mavlink_receiver.h
+1 -4
View File
@@ -204,7 +204,6 @@ private:
void handle_message_trajectory_representation_waypoints(mavlink_message_t *msg);
void handle_message_utm_global_position(mavlink_message_t *msg);
void handle_message_vision_position_estimate(mavlink_message_t *msg);
void handle_message_onboard_computer_status(mavlink_message_t *msg);
void handle_message_gimbal_manager_set_attitude(mavlink_message_t *msg);
void handle_message_gimbal_manager_set_manual_control(mavlink_message_t *msg);
void handle_message_gimbal_device_information(mavlink_message_t *msg);
@@ -361,10 +360,8 @@ private:
uORB::Publication<follow_target_s> _follow_target_pub{ORB_ID(follow_target)};
uORB::Publication<gimbal_manager_set_attitude_s> _gimbal_manager_set_attitude_pub{ORB_ID(gimbal_manager_set_attitude)};
uORB::Publication<gimbal_manager_set_manual_control_s> _gimbal_manager_set_manual_control_pub{ORB_ID(gimbal_manager_set_manual_control)};
uORB::Publication<gimbal_device_information_s> _gimbal_device_information_pub{ORB_ID(gimbal_device_information)};
uORB::Publication<irlock_report_s> _irlock_report_pub{ORB_ID(irlock_report)};
uORB::Publication<gimbal_manager_set_attitude_s> _gimbal_manager_set_attitude_pub{ORB_ID(gimbal_manager_set_attitude)};
uORB::Publication<gimbal_device_information_s> _gimbal_device_information_pub{ORB_ID(gimbal_device_information)};
uORB::Publication<irlock_report_s> _irlock_report_pub{ORB_ID(irlock_report)};
uORB::Publication<landing_target_pose_s> _landing_target_pose_pub{ORB_ID(landing_target_pose)};
uORB::Publication<log_message_s> _log_message_pub{ORB_ID(log_message)};
uORB::Publication<obstacle_distance_s> _obstacle_distance_pub{ORB_ID(obstacle_distance)};