From 86c234fa9b91d1acc7b565c2c343574fe7700a72 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Wed, 18 Mar 2015 18:00:58 +0300
Subject: [PATCH] Gimbal message update

---
 ...mmand.uavcan => 390.AngularCommand.uavcan} | 23 +++++--------------
 .../camera_gimbal/391.GEOPOICommand.uavcan    | 23 +++++++++++++++++++
 .../{391.Status.uavcan => 392.Status.uavcan}  |  0
 .../equipment/camera_gimbal/Mode.uavcan       | 10 ++++----
 4 files changed, 34 insertions(+), 22 deletions(-)
 rename dsdl/uavcan/equipment/camera_gimbal/{390.Command.uavcan => 390.AngularCommand.uavcan} (55%)
 create mode 100644 dsdl/uavcan/equipment/camera_gimbal/391.GEOPOICommand.uavcan
 rename dsdl/uavcan/equipment/camera_gimbal/{391.Status.uavcan => 392.Status.uavcan} (100%)

diff --git a/dsdl/uavcan/equipment/camera_gimbal/390.Command.uavcan b/dsdl/uavcan/equipment/camera_gimbal/390.AngularCommand.uavcan
similarity index 55%
rename from dsdl/uavcan/equipment/camera_gimbal/390.Command.uavcan
rename to dsdl/uavcan/equipment/camera_gimbal/390.AngularCommand.uavcan
index 36205851ec..98b696947f 100644
--- a/dsdl/uavcan/equipment/camera_gimbal/390.Command.uavcan
+++ b/dsdl/uavcan/equipment/camera_gimbal/390.AngularCommand.uavcan
@@ -1,31 +1,20 @@
 #
 # Generic camera gimbal control.
 #
+# This message can only be used in the following modes:
+#  - COMMAND_MODE_ANGULAR_VELOCITY
+#  - COMMAND_MODE_ORIENTATION_FIXED_FRAME
+#  - COMMAND_MODE_ORIENTATION_BODY_FRAME
+#
 
 #
 # Target operation mode - how to handle this message.
+# See the list of acceptable modes above.
 #
 Mode mode
 
-#
-# This field is only used in the following modes:
-#  - COMMAND_MODE_ANGULAR_VELOCITY
-#  - COMMAND_MODE_ORIENTATION_FIXED_FRAME
-#  - COMMAND_MODE_ORIENTATION_BODY_FRAME
 #
 # In the angular velocity mode, this field contains a rate quaternion.
 # In the orientation mode, this field contains orientation either in fixed frame or in body frame.
 #
 float16[4] quaternion_xyzw
-
-#
-# These fields are only used in the following modes:
-#  - COMMAND_MODE_GEO_POI
-#
-int32 longitude_deg_1e7    # 1 LSB = 1e-7 deg
-int32 latitude_deg_1e7
-int22 height_cm            # 1 LSB = 10 mm
-
-uint2 HEIGHT_REFERENCE_ELLIPSOID = 0
-uint2 HEIGHT_REFERENCE_MEAN_SEA_LEVEL = 1
-uint2 height_reference
diff --git a/dsdl/uavcan/equipment/camera_gimbal/391.GEOPOICommand.uavcan b/dsdl/uavcan/equipment/camera_gimbal/391.GEOPOICommand.uavcan
new file mode 100644
index 0000000000..83236d52b0
--- /dev/null
+++ b/dsdl/uavcan/equipment/camera_gimbal/391.GEOPOICommand.uavcan
@@ -0,0 +1,23 @@
+#
+# Generic camera gimbal control.
+#
+# This message can only be used in the following modes:
+#  - COMMAND_MODE_GEO_POI
+#
+
+#
+# Target operation mode - how to handle this message.
+# See the list of acceptable modes above.
+#
+Mode mode
+
+#
+# Coordinates of the POI (point of interest).
+#
+int32 longitude_deg_1e7    # 1 LSB = 1e-7 deg
+int32 latitude_deg_1e7
+int22 height_cm            # 1 LSB = 10 mm
+
+uint2 HEIGHT_REFERENCE_ELLIPSOID = 0
+uint2 HEIGHT_REFERENCE_MEAN_SEA_LEVEL = 1
+uint2 height_reference
diff --git a/dsdl/uavcan/equipment/camera_gimbal/391.Status.uavcan b/dsdl/uavcan/equipment/camera_gimbal/392.Status.uavcan
similarity index 100%
rename from dsdl/uavcan/equipment/camera_gimbal/391.Status.uavcan
rename to dsdl/uavcan/equipment/camera_gimbal/392.Status.uavcan
diff --git a/dsdl/uavcan/equipment/camera_gimbal/Mode.uavcan b/dsdl/uavcan/equipment/camera_gimbal/Mode.uavcan
index 383194cb16..2def06dcad 100644
--- a/dsdl/uavcan/equipment/camera_gimbal/Mode.uavcan
+++ b/dsdl/uavcan/equipment/camera_gimbal/Mode.uavcan
@@ -2,8 +2,8 @@
 # Gimbal operating mode
 #
 
-uint4 COMMAND_MODE_ANGULAR_VELOCITY        = 0
-uint4 COMMAND_MODE_ORIENTATION_FIXED_FRAME = 1
-uint4 COMMAND_MODE_ORIENTATION_BODY_FRAME  = 2
-uint4 COMMAND_MODE_GEO_POI                 = 3
-uint4 command_mode
+uint8 COMMAND_MODE_ANGULAR_VELOCITY        = 0
+uint8 COMMAND_MODE_ORIENTATION_FIXED_FRAME = 1
+uint8 COMMAND_MODE_ORIENTATION_BODY_FRAME  = 2
+uint8 COMMAND_MODE_GEO_POI                 = 3
+uint8 command_mode