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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/vmount/input_mavlink.cpp
+17 -20
View File
@@ -40,7 +40,7 @@
#include "input_mavlink.h"
#include <uORB/Publication.hpp>
#include <uORB/topics/gimbal_device_information.h>
#include <uORB/topics/gimbal_manager_information.h>
#include <uORB/topics/vehicle_roi.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/position_setpoint_triplet.h>
@@ -470,29 +470,26 @@ void InputMavlinkGimbalV2::_stream_gimbal_manager_status()
void InputMavlinkGimbalV2::_stream_gimbal_manager_information()
{
gimbal_device_information_s gimbal_device_info;
gimbal_device_info.timestamp = hrt_absolute_time();
const char vendor_name[] = "PX4";
const char model_name[] = "AUX gimbal";
// TODO: Take gimbal_device_information into account.
strncpy((char *)gimbal_device_info.vendor_name, vendor_name, sizeof(gimbal_device_info.vendor_name));
strncpy((char *)gimbal_device_info.model_name, model_name, sizeof(gimbal_device_info.model_name));
gimbal_manager_information_s gimbal_manager_info;
gimbal_manager_info.timestamp = hrt_absolute_time();
gimbal_device_info.firmware_version = 0;
gimbal_device_info.capability_flags = 0;
gimbal_device_info.capability_flags = gimbal_device_information_s::GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL |
gimbal_device_information_s::GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK |
gimbal_device_information_s::GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS |
gimbal_device_information_s::GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK |
gimbal_device_information_s::GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS |
gimbal_device_information_s::GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK;
gimbal_manager_info.cap_flags =
gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL |
gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK |
gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS |
gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK |
gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS |
gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK |
gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL;
gimbal_device_info.pitch_max = M_PI_F / 2;
gimbal_device_info.pitch_min = -M_PI_F / 2;
gimbal_device_info.yaw_max = M_PI_F;
gimbal_device_info.yaw_min = -M_PI_F;
gimbal_manager_info.pitch_max = M_PI_F / 2;
gimbal_manager_info.pitch_min = -M_PI_F / 2;
gimbal_manager_info.yaw_max = M_PI_F;
gimbal_manager_info.yaw_min = -M_PI_F;
_gimbal_device_info_pub.publish(gimbal_device_info);
_gimbal_manager_info_pub.publish(gimbal_manager_info);
}
int InputMavlinkGimbalV2::update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active)
src/modules/vmount/input_mavlink.h
+2 -2
View File
@@ -46,7 +46,7 @@
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/gimbal_device_attitude_status.h>
#include <uORB/topics/gimbal_device_information.h>
#include <uORB/topics/gimbal_manager_information.h>
#include <uORB/topics/gimbal_manager_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_roi.h>
@@ -150,7 +150,7 @@ private:
uORB::Subscription _gimbal_device_attitude_status_sub{ORB_ID(gimbal_device_attitude_status)};
uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
uORB::Publication<gimbal_device_information_s> _gimbal_device_info_pub{ORB_ID(gimbal_device_information)};
uORB::Publication<gimbal_manager_information_s> _gimbal_manager_info_pub{ORB_ID(gimbal_manager_information)};
uORB::Publication<gimbal_manager_status_s> _gimbal_manager_status_pub{ORB_ID(gimbal_manager_status)};
map_projection_reference_s _projection_reference = {}; ///< reference to convert (lon, lat) to local [m]
uint8_t _cur_roi_mode = vehicle_roi_s::ROI_NONE;