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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
2020-11-17 15:38:49 +01:00
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)