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mavlink: added back gimbal v1 protocol command

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oravla5
2024-04-25 08:23:32 +02:00
committed by Beat Küng
parent 03652beef8
commit bf1266af11
2 changed files with 26 additions and 2 deletions
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src/modules/mavlink/mavlink_main.cpp
+25 -1
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@@ -2525,9 +2525,33 @@ void Mavlink::handleCommands()
}
}
}
// For legacy gimbals using the mavlink gimbal v1 protocol, we need to send out commands.
// We don't care about acks for these though.
if (_gimbal_v1_command_sub.updated()) {
vehicle_command_s cmd;
_gimbal_v1_command_sub.copy(&cmd);
// FIXME: filter for target system/component
mavlink_command_long_t msg{};
msg.param1 = cmd.param1;
msg.param2 = cmd.param2;
msg.param3 = cmd.param3;
msg.param4 = cmd.param4;
msg.param5 = cmd.param5;
msg.param6 = cmd.param6;
msg.param7 = cmd.param7;
msg.command = cmd.command;
msg.target_system = cmd.target_system;
msg.target_component = cmd.target_component;
msg.confirmation = 0;
mavlink_msg_command_long_send_struct(get_channel(), &msg);
}
}
void Mavlink::handleAndGetCurrentCommandAck(bool &start_ack, bool &stop_ack)
void Mavlink::handleAndGetCurrentCommandAck(bool &logging_start_ack, bool &logging_stop_ack)
{
if (_vehicle_command_ack_sub.updated()) {
static constexpr size_t COMMAND_ACK_TOTAL_LEN = MAVLINK_MSG_ID_COMMAND_ACK_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
src/modules/mavlink/mavlink_main.h
+1 -1
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@@ -709,7 +709,7 @@ private:
void handleCommands();
void handleAndGetCurrentCommandAck(bool &start_ack, bool &stop_ack);
void handleAndGetCurrentCommandAck(bool &logging_start_ack, bool &logging_stop_ack);
void handleStatus();