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gimbal: correctly set gimbal_device_id

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When we use a gimbal connected via "RC", so PWM via the Aux channels, we
need to set the gimbal_device_id to 1 as per the protocol.

This was missing for GIMBAL_DEVICE_ATTITUDE_STATUS, so I added that, and
fixed the name of that variable while at it.
This commit is contained in:
Julian Oes
2024-12-18 07:51:40 +01:00
committed by Beat Küng
parent 9e9d352eb2
commit 98fde4cbac
7 changed files with 19 additions and 7 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -3063,7 +3063,7 @@ MavlinkReceiver::handle_message_gimbal_device_information(mavlink_message_t *msg
gimbal_information.yaw_max = gimbal_device_info_msg.yaw_max;
gimbal_information.yaw_min = gimbal_device_info_msg.yaw_min;
gimbal_information.gimbal_device_compid = msg->compid;
gimbal_information.gimbal_device_id = msg->compid;
_gimbal_device_information_pub.publish(gimbal_information);
}
src/modules/mavlink/streams/GIMBAL_DEVICE_ATTITUDE_STATUS.hpp
+5
View File
@@ -94,6 +94,11 @@ private:
msg.failure_flags = gimbal_device_attitude_status.failure_flags;
msg.delta_yaw = gimbal_device_attitude_status.delta_yaw;
msg.delta_yaw_velocity = gimbal_device_attitude_status.delta_yaw_velocity;
msg.gimbal_device_id = gimbal_device_attitude_status.gimbal_device_id;
mavlink_msg_gimbal_device_attitude_status_send_struct(_mavlink->get_channel(), &msg);
return true;