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vmount/mavlink: update gimbal information message

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We should be using gimbal_manager_information and not
gimbal_device_information. Plus, this updates the fields and flags
according to the MAVLink changes.
This commit is contained in:
Julian Oes
2021-02-17 13:54:34 -05:00
committed by Daniel Agar
parent cb3ad39406
commit b0d7d19bab
6 changed files with 74 additions and 49 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+8 -2
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@@ -3012,13 +3012,20 @@ MavlinkReceiver::handle_message_gimbal_device_information(mavlink_message_t *msg
"vendor_name length doesn't match");
static_assert(sizeof(gimbal_information.model_name) == sizeof(gimbal_device_info_msg.model_name),
"model_name length doesn't match");
static_assert(sizeof(gimbal_information.custom_name) == sizeof(gimbal_device_info_msg.custom_name),
"custom_name length doesn't match");
memcpy(gimbal_information.vendor_name, gimbal_device_info_msg.vendor_name, sizeof(gimbal_information.vendor_name));
memcpy(gimbal_information.model_name, gimbal_device_info_msg.model_name, sizeof(gimbal_information.model_name));
memcpy(gimbal_information.custom_name, gimbal_device_info_msg.custom_name, sizeof(gimbal_information.custom_name));
gimbal_device_info_msg.vendor_name[sizeof(gimbal_device_info_msg.vendor_name) - 1] = '\0';
gimbal_device_info_msg.model_name[sizeof(gimbal_device_info_msg.model_name) - 1] = '\0';
gimbal_device_info_msg.custom_name[sizeof(gimbal_device_info_msg.custom_name) - 1] = '\0';
gimbal_information.firmware_version = gimbal_device_info_msg.firmware_version;
gimbal_information.capability_flags = gimbal_device_info_msg.cap_flags;
gimbal_information.hardware_version = gimbal_device_info_msg.hardware_version;
gimbal_information.cap_flags = gimbal_device_info_msg.cap_flags;
gimbal_information.custom_cap_flags = gimbal_device_info_msg.custom_cap_flags;
gimbal_information.uid = gimbal_device_info_msg.uid;
gimbal_information.pitch_max = gimbal_device_info_msg.pitch_max;
gimbal_information.pitch_min = gimbal_device_info_msg.pitch_min;
@@ -3029,7 +3036,6 @@ MavlinkReceiver::handle_message_gimbal_device_information(mavlink_message_t *msg
gimbal_information.gimbal_device_compid = msg->compid;
_gimbal_device_information_pub.publish(gimbal_information);
}
/**