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gimbal: merge fixes

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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
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src/modules/mavlink/mavlink_messages.cpp
+19 -15
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@@ -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;